{
  "cases": [
    {
      "id": "ep000059-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 59,
      "start": 0,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 0,
      "original_context": "0216a3db0e62eb5daa463b03547232791ff517a0a71a0c13c92a535c388eb73c",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Approach the Oreo cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000059-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.72
    },
    {
      "id": "ep000059-t000048",
      "cohort": "stage",
      "baseline_index": 0,
      "episode": 59,
      "start": 48,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 0,
      "original_context": "0216a3db0e62eb5daa463b03547232791ff517a0a71a0c13c92a535c388eb73c",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Approach the Oreo cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000059-t000048.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 1.8
    },
    {
      "id": "ep000059-t000168",
      "cohort": "stage",
      "baseline_index": 1,
      "episode": 59,
      "start": 168,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 1,
      "original_context": "e1a0e1e9c550316ed379287fc808ab73654388b675af4974ac2f42d99006bdfa",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Transfer the Oreo cup toward the basket opening",
      "initial_gripper": [
        0.0,
        1.0
      ],
      "closed_command_arms": [
        "left"
      ],
      "grasp_contact_verified": false,
      "file": "ep000059-t000168.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.8
    },
    {
      "id": "ep000059-t000344",
      "cohort": "stage",
      "baseline_index": 2,
      "episode": 59,
      "start": 344,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 2,
      "original_context": "ffc1c33ec25f5559004a740e5e4f44673cf9989ef448d39c0ecf828a6e4473b5",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Place the Oreo cup into the basket",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000059-t000344.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.24
    },
    {
      "id": "ep000059-t000488",
      "cohort": "stage",
      "baseline_index": 3,
      "episode": 59,
      "start": 488,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 3,
      "original_context": "cfc2dcd6fabeec893c061efe437ca28ab0114f8f2b1bd6f4a5008b3620975acd",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Lift the basket",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000059-t000488.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.4
    },
    {
      "id": "ep000109-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 109,
      "start": 0,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 0,
      "original_context": "0216a3db0e62eb5daa463b03547232791ff517a0a71a0c13c92a535c388eb73c",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Approach the Oreo cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000109-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.8
    },
    {
      "id": "ep000109-t000048",
      "cohort": "stage",
      "baseline_index": 4,
      "episode": 109,
      "start": 48,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 0,
      "original_context": "0216a3db0e62eb5daa463b03547232791ff517a0a71a0c13c92a535c388eb73c",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Approach the Oreo cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000109-t000048.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 1.88
    },
    {
      "id": "ep000109-t000200",
      "cohort": "stage",
      "baseline_index": 5,
      "episode": 109,
      "start": 200,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 1,
      "original_context": "e1a0e1e9c550316ed379287fc808ab73654388b675af4974ac2f42d99006bdfa",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Transfer the Oreo cup toward the basket opening",
      "initial_gripper": [
        0.0,
        1.0
      ],
      "closed_command_arms": [
        "left"
      ],
      "grasp_contact_verified": false,
      "file": "ep000109-t000200.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.4
    },
    {
      "id": "ep000109-t000432",
      "cohort": "stage",
      "baseline_index": 6,
      "episode": 109,
      "start": 432,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 2,
      "original_context": "ffc1c33ec25f5559004a740e5e4f44673cf9989ef448d39c0ecf828a6e4473b5",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Place the Oreo cup into the basket",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000109-t000432.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.64
    },
    {
      "id": "ep000109-t000584",
      "cohort": "stage",
      "baseline_index": 7,
      "episode": 109,
      "start": 584,
      "task_index": 0,
      "task": "put the oreo cup into the basket, then lift the basket",
      "stage": 3,
      "original_context": "cfc2dcd6fabeec893c061efe437ca28ab0114f8f2b1bd6f4a5008b3620975acd",
      "prompt": "Robot: g2_dualarm_ee. Task: put the oreo cup into the basket, then lift the basket\nCurrent subtask: Lift the basket",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000109-t000584.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.64
    },
    {
      "id": "ep000187-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 187,
      "start": 0,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 0,
      "original_context": "b202ce433ba81337ab7b62a675c55586cb6aee90c574b035114a2b6d3b0d7ce0",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Approach the ice cream cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000187-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.72
    },
    {
      "id": "ep000187-t000048",
      "cohort": "stage",
      "baseline_index": 8,
      "episode": 187,
      "start": 48,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 0,
      "original_context": "b202ce433ba81337ab7b62a675c55586cb6aee90c574b035114a2b6d3b0d7ce0",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Approach the ice cream cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000187-t000048.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 1.8
    },
    {
      "id": "ep000187-t000168",
      "cohort": "stage",
      "baseline_index": 9,
      "episode": 187,
      "start": 168,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 1,
      "original_context": "38c4a7810d52a02c9ffb2fcd349b104f16ab3cbc438e738d6e745fa0f40bcb4a",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Transfer the ice cream cup into the bowl",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000187-t000168.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.68
    },
    {
      "id": "ep000187-t000272",
      "cohort": "stage",
      "baseline_index": 10,
      "episode": 187,
      "start": 272,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 2,
      "original_context": "f27f9720b3f03d3c17631daf3ef307debf74fb3717ea1e7874f8a0118263c191",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Disengage and withdraw from the cup and bowl",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000187-t000272.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.84
    },
    {
      "id": "ep000207-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 207,
      "start": 0,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 0,
      "original_context": "b202ce433ba81337ab7b62a675c55586cb6aee90c574b035114a2b6d3b0d7ce0",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Approach the ice cream cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000207-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.0
    },
    {
      "id": "ep000207-t000048",
      "cohort": "stage",
      "baseline_index": 11,
      "episode": 207,
      "start": 48,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 0,
      "original_context": "b202ce433ba81337ab7b62a675c55586cb6aee90c574b035114a2b6d3b0d7ce0",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Approach the ice cream cup for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000207-t000048.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.08
    },
    {
      "id": "ep000207-t000176",
      "cohort": "stage",
      "baseline_index": 12,
      "episode": 207,
      "start": 176,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 1,
      "original_context": "38c4a7810d52a02c9ffb2fcd349b104f16ab3cbc438e738d6e745fa0f40bcb4a",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Transfer the ice cream cup into the bowl",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000207-t000176.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.88
    },
    {
      "id": "ep000207-t000280",
      "cohort": "stage",
      "baseline_index": 13,
      "episode": 207,
      "start": 280,
      "task_index": 1,
      "task": "serve the ice cream into the bowl",
      "stage": 2,
      "original_context": "f27f9720b3f03d3c17631daf3ef307debf74fb3717ea1e7874f8a0118263c191",
      "prompt": "Robot: g2_dualarm_ee. Task: serve the ice cream into the bowl\nCurrent subtask: Disengage and withdraw from the cup and bowl",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000207-t000280.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.92
    },
    {
      "id": "ep000261-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 261,
      "start": 0,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 0,
      "original_context": "8785430e3efbd255c320f6c33353617611e9a330b7c8547bd9d59d1336489057",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Approach the tape roll for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000261-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.52
    },
    {
      "id": "ep000261-t000056",
      "cohort": "stage",
      "baseline_index": 14,
      "episode": 261,
      "start": 56,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 0,
      "original_context": "8785430e3efbd255c320f6c33353617611e9a330b7c8547bd9d59d1336489057",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Approach the tape roll for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000261-t000056.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.28
    },
    {
      "id": "ep000261-t000200",
      "cohort": "stage",
      "baseline_index": 15,
      "episode": 261,
      "start": 200,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 1,
      "original_context": "44b25476858419c60dfd406be54498f242bf9b7c7fe0b797ca0aee6529a16431",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Position the tape roll over the stand peg for insertion",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000261-t000200.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.2
    },
    {
      "id": "ep000261-t000336",
      "cohort": "stage",
      "baseline_index": 16,
      "episode": 261,
      "start": 336,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 2,
      "original_context": "deb1fd07f77de1603970ae625f6997754dd9505126cd36f8790b5b02be417e5d",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Seat the tape roll onto the stand",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000261-t000336.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.76
    },
    {
      "id": "ep000342-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 342,
      "start": 0,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 0,
      "original_context": "8785430e3efbd255c320f6c33353617611e9a330b7c8547bd9d59d1336489057",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Approach the tape roll for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000342-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 6.6
    },
    {
      "id": "ep000342-t000080",
      "cohort": "stage",
      "baseline_index": 17,
      "episode": 342,
      "start": 80,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 0,
      "original_context": "8785430e3efbd255c320f6c33353617611e9a330b7c8547bd9d59d1336489057",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Approach the tape roll for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000342-t000080.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.4
    },
    {
      "id": "ep000342-t000272",
      "cohort": "stage",
      "baseline_index": 18,
      "episode": 342,
      "start": 272,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 1,
      "original_context": "44b25476858419c60dfd406be54498f242bf9b7c7fe0b797ca0aee6529a16431",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Position the tape roll over the stand peg for insertion",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000342-t000272.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.12
    },
    {
      "id": "ep000342-t000424",
      "cohort": "stage",
      "baseline_index": 19,
      "episode": 342,
      "start": 424,
      "task_index": 2,
      "task": "insert the tape roll onto the stand",
      "stage": 2,
      "original_context": "deb1fd07f77de1603970ae625f6997754dd9505126cd36f8790b5b02be417e5d",
      "prompt": "Robot: g2_dualarm_ee. Task: insert the tape roll onto the stand\nCurrent subtask: Seat the tape roll onto the stand",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000342-t000424.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.44
    },
    {
      "id": "ep000431-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 431,
      "start": 0,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 0,
      "original_context": "232a9ba730ca0c30376fd2889544a8fc9274baf1721c77c86a19c62a440971a5",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Approach the white brush handle for acquisition",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000431-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.32
    },
    {
      "id": "ep000431-t000056",
      "cohort": "stage",
      "baseline_index": 20,
      "episode": 431,
      "start": 56,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 0,
      "original_context": "232a9ba730ca0c30376fd2889544a8fc9274baf1721c77c86a19c62a440971a5",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Approach the white brush handle for acquisition",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000431-t000056.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.08
    },
    {
      "id": "ep000431-t000232",
      "cohort": "stage",
      "baseline_index": 21,
      "episode": 431,
      "start": 232,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 1,
      "original_context": "18ea25cbb8f192916f15b7888d9af2f8a00789f826c6f5f8eb609fc1d9141882",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Sweep the blue cube with the white brush",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000431-t000232.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.92
    },
    {
      "id": "ep000431-t000400",
      "cohort": "stage",
      "baseline_index": 22,
      "episode": 431,
      "start": 400,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 2,
      "original_context": "7f4936c5ce59f947bbdb57b4b3ee13cc5ba819214f7befd07d4b3c7f46b8c79b",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Disengage from the white brush",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000431-t000400.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.12
    },
    {
      "id": "ep000447-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 447,
      "start": 0,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 0,
      "original_context": "232a9ba730ca0c30376fd2889544a8fc9274baf1721c77c86a19c62a440971a5",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Approach the white brush handle for acquisition",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000447-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.8
    },
    {
      "id": "ep000447-t000048",
      "cohort": "stage",
      "baseline_index": 23,
      "episode": 447,
      "start": 48,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 0,
      "original_context": "232a9ba730ca0c30376fd2889544a8fc9274baf1721c77c86a19c62a440971a5",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Approach the white brush handle for acquisition",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000447-t000048.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 1.88
    },
    {
      "id": "ep000447-t000216",
      "cohort": "stage",
      "baseline_index": 24,
      "episode": 447,
      "start": 216,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 1,
      "original_context": "18ea25cbb8f192916f15b7888d9af2f8a00789f826c6f5f8eb609fc1d9141882",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Sweep the blue cube with the white brush",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000447-t000216.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.88
    },
    {
      "id": "ep000447-t000376",
      "cohort": "stage",
      "baseline_index": 25,
      "episode": 447,
      "start": 376,
      "task_index": 3,
      "task": "sweep the blue cube with the white brush",
      "stage": 2,
      "original_context": "7f4936c5ce59f947bbdb57b4b3ee13cc5ba819214f7befd07d4b3c7f46b8c79b",
      "prompt": "Robot: g2_dualarm_ee. Task: sweep the blue cube with the white brush\nCurrent subtask: Disengage from the white brush",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000447-t000376.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.76
    },
    {
      "id": "ep000511-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 511,
      "start": 0,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 0,
      "original_context": "d59872602fbc1d770ee97937c28a51be56737084457003010cb8ff7aba5d2d9a",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000511-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.92
    },
    {
      "id": "ep000511-t000048",
      "cohort": "stage",
      "baseline_index": 26,
      "episode": 511,
      "start": 48,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 0,
      "original_context": "d59872602fbc1d770ee97937c28a51be56737084457003010cb8ff7aba5d2d9a",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000511-t000048.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.0
    },
    {
      "id": "ep000511-t000168",
      "cohort": "stage",
      "baseline_index": 27,
      "episode": 511,
      "start": 168,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 1,
      "original_context": "cccf442883e73ef582a00e0da452357d730eea82b156ef41ff4da64c429247ca",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000511-t000168.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.48
    },
    {
      "id": "ep000511-t000328",
      "cohort": "stage",
      "baseline_index": 28,
      "episode": 511,
      "start": 328,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 2,
      "original_context": "f2741b5479755ea336a4725e0583a8b241788fff6b5eae2a08cfd099df03ab1f",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the green cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000511-t000328.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.68
    },
    {
      "id": "ep000511-t000504",
      "cohort": "stage",
      "baseline_index": 29,
      "episode": 511,
      "start": 504,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 3,
      "original_context": "3c7d7e0e9d7540f188beb122751fb03ea86a42be7fc6875c710bd81ff147cedf",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
      "initial_gripper": [
        0.0,
        1.0
      ],
      "closed_command_arms": [
        "left"
      ],
      "grasp_contact_verified": false,
      "file": "ep000511-t000504.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.44
    },
    {
      "id": "ep000511-t000624",
      "cohort": "stage",
      "baseline_index": 30,
      "episode": 511,
      "start": 624,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 4,
      "original_context": "92afb1368ccf6cad91e284bc1966e9d65e91f968b7ea14b94c4abf3d25723c21",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Withdraw after disengaging from the green cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000511-t000624.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.64
    },
    {
      "id": "ep000563-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 563,
      "start": 0,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 0,
      "original_context": "d59872602fbc1d770ee97937c28a51be56737084457003010cb8ff7aba5d2d9a",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000563-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.2
    },
    {
      "id": "ep000563-t000040",
      "cohort": "stage",
      "baseline_index": 31,
      "episode": 563,
      "start": 40,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 0,
      "original_context": "d59872602fbc1d770ee97937c28a51be56737084457003010cb8ff7aba5d2d9a",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000563-t000040.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 1.6
    },
    {
      "id": "ep000563-t000144",
      "cohort": "stage",
      "baseline_index": 32,
      "episode": 563,
      "start": 144,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 1,
      "original_context": "cccf442883e73ef582a00e0da452357d730eea82b156ef41ff4da64c429247ca",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000563-t000144.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.56
    },
    {
      "id": "ep000563-t000344",
      "cohort": "stage",
      "baseline_index": 33,
      "episode": 563,
      "start": 344,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 2,
      "original_context": "f2741b5479755ea336a4725e0583a8b241788fff6b5eae2a08cfd099df03ab1f",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the green cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000563-t000344.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 5.16
    },
    {
      "id": "ep000563-t000560",
      "cohort": "stage",
      "baseline_index": 34,
      "episode": 563,
      "start": 560,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 3,
      "original_context": "3c7d7e0e9d7540f188beb122751fb03ea86a42be7fc6875c710bd81ff147cedf",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
      "initial_gripper": [
        0.0,
        1.0
      ],
      "closed_command_arms": [
        "left"
      ],
      "grasp_contact_verified": false,
      "file": "ep000563-t000560.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.4
    },
    {
      "id": "ep000563-t000680",
      "cohort": "stage",
      "baseline_index": 35,
      "episode": 563,
      "start": 680,
      "task_index": 4,
      "task": "cover the blue cube with the blue cup and the green cube with the green cup",
      "stage": 4,
      "original_context": "92afb1368ccf6cad91e284bc1966e9d65e91f968b7ea14b94c4abf3d25723c21",
      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Withdraw after disengaging from the green cup",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000563-t000680.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.6
    },
    {
      "id": "ep000623-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 623,
      "start": 0,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 0,
      "original_context": "b3c5d1a4e717bff3046e419d31beffe049a3347de90be193fef08d6ea0d2831e",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Approach the blue hat for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000623-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.32
    },
    {
      "id": "ep000623-t000040",
      "cohort": "stage",
      "baseline_index": 36,
      "episode": 623,
      "start": 40,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 0,
      "original_context": "b3c5d1a4e717bff3046e419d31beffe049a3347de90be193fef08d6ea0d2831e",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Approach the blue hat for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000623-t000040.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 1.72
    },
    {
      "id": "ep000623-t000168",
      "cohort": "stage",
      "baseline_index": 37,
      "episode": 623,
      "start": 168,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 1,
      "original_context": "3768f928fec1afbb89c7e300fd3880bbaaa4217aa6e3fe6cb47b7294ab9c11e0",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Position the blue hat over the stand",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000623-t000168.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.2
    },
    {
      "id": "ep000623-t000272",
      "cohort": "stage",
      "baseline_index": 38,
      "episode": 623,
      "start": 272,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 2,
      "original_context": "9838db76f7074b75ffdc0f054f539e7892cb2327fdba05298706b62accf0acab",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Settle and release the blue hat onto the stand",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000623-t000272.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.52
    },
    {
      "id": "ep000672-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 672,
      "start": 0,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 0,
      "original_context": "b3c5d1a4e717bff3046e419d31beffe049a3347de90be193fef08d6ea0d2831e",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Approach the blue hat for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000672-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.52
    },
    {
      "id": "ep000672-t000056",
      "cohort": "stage",
      "baseline_index": 39,
      "episode": 672,
      "start": 56,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 0,
      "original_context": "b3c5d1a4e717bff3046e419d31beffe049a3347de90be193fef08d6ea0d2831e",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Approach the blue hat for grasping",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000672-t000056.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.28
    },
    {
      "id": "ep000672-t000200",
      "cohort": "stage",
      "baseline_index": 40,
      "episode": 672,
      "start": 200,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 1,
      "original_context": "3768f928fec1afbb89c7e300fd3880bbaaa4217aa6e3fe6cb47b7294ab9c11e0",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Position the blue hat over the stand",
      "initial_gripper": [
        1.0,
        0.0
      ],
      "closed_command_arms": [
        "right"
      ],
      "grasp_contact_verified": false,
      "file": "ep000672-t000200.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.52
    },
    {
      "id": "ep000672-t000328",
      "cohort": "stage",
      "baseline_index": 41,
      "episode": 672,
      "start": 328,
      "task_index": 5,
      "task": "hang the blue hat on the stand",
      "stage": 2,
      "original_context": "9838db76f7074b75ffdc0f054f539e7892cb2327fdba05298706b62accf0acab",
      "prompt": "Robot: g2_dualarm_ee. Task: hang the blue hat on the stand\nCurrent subtask: Settle and release the blue hat onto the stand",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000672-t000328.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.68
    },
    {
      "id": "ep000757-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 757,
      "start": 0,
      "task_index": 6,
      "task": "close the laptop",
      "stage": 0,
      "original_context": "0636afc135cbd8450664c044fca20159b85d4fe5edfb2e96c8d792be11a9d169",
      "prompt": "Robot: g2_dualarm_ee. Task: close the laptop\nCurrent subtask: Approach the laptop display edge",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000757-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.6
    },
    {
      "id": "ep000757-t000056",
      "cohort": "stage",
      "baseline_index": 42,
      "episode": 757,
      "start": 56,
      "task_index": 6,
      "task": "close the laptop",
      "stage": 0,
      "original_context": "0636afc135cbd8450664c044fca20159b85d4fe5edfb2e96c8d792be11a9d169",
      "prompt": "Robot: g2_dualarm_ee. Task: close the laptop\nCurrent subtask: Approach the laptop display edge",
      "initial_gripper": [
        1.0,
        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000757-t000056.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 2.36
    },
    {
      "id": "ep000757-t000200",
      "cohort": "stage",
      "baseline_index": 43,
      "episode": 757,
      "start": 200,
      "task_index": 6,
      "task": "close the laptop",
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    {
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    {
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    {
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    {
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    {
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    {
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    {
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    {
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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    {
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    {
      "case": "ep000563-t000000",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000040",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "training_windows": 1307,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000040",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "training_windows": 1307,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
      "training_windows": 1307,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the green cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000040",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the green cup",
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    {
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    {
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    {
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    {
      "case": "ep000563-t000344",
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    {
      "case": "ep000563-t000344",
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    {
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    {
      "case": "ep000563-t000344",
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    {
      "case": "ep000563-t000344",
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    {
      "case": "ep000563-t000344",
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    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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    {
      "case": "ep000563-t000344",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
      "training_windows": 2780,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "training_windows": 2780,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    },
    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Withdraw after disengaging from the green cup",
      "training_windows": 867,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    },
    {
      "case": "ep000563-t000344",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Withdraw after disengaging from the green cup",
      "training_windows": 867,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    },
    {
      "case": "ep000563-t000344",
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      "training_windows": 867,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000344",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    },
    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    },
    {
      "case": "ep000563-t000560",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
      "training_windows": 2780,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
      "training_windows": 2747,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the blue cube with the blue cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Approach and acquire the green cup",
      "training_windows": 2866,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    },
    {
      "case": "ep000563-t000560",
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    {
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    {
      "case": "ep000563-t000560",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000560",
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    {
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    {
      "case": "ep000563-t000680",
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    {
      "case": "ep000563-t000680",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000680",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000680",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000680",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000680",
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Withdraw after disengaging from the green cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000680",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
      "case": "ep000563-t000680",
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    {
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    {
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    {
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    {
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    {
      "case": "ep000563-t000680",
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    {
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    {
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    {
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    {
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    {
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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    {
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      "prompt": "Robot: g2_dualarm_ee. Task: cover the blue cube with the blue cup and the green cube with the green cup\nCurrent subtask: Cover the green cube with the green cup",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
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      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Disengage from the upright bottle",
      "training_windows": 952,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1103
    },
    {
      "case": "ep000927-t000488",
      "name": "repeat",
      "context": "2012929b8e767868b24d6fe0d59ada02395c53b97243ae64eee421f21d11193e",
      "stage": 2,
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      "history": "true_history",
      "seed_base": 42,
      "seed": 95,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Disengage from the upright bottle",
      "training_windows": 952,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1104
    },
    {
      "case": "ep000927-t000488",
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      "stage": 2,
      "kind": "repeat",
      "history": "true_history",
      "seed_base": 314,
      "seed": 367,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Disengage from the upright bottle",
      "training_windows": 952,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1105
    },
    {
      "case": "ep000927-t000488",
      "name": "repeat",
      "context": "2012929b8e767868b24d6fe0d59ada02395c53b97243ae64eee421f21d11193e",
      "stage": 2,
      "kind": "repeat",
      "history": "current_repeat",
      "seed_base": 42,
      "seed": 95,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Disengage from the upright bottle",
      "training_windows": 952,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1106
    },
    {
      "case": "ep000927-t000488",
      "name": "repeat",
      "context": "2012929b8e767868b24d6fe0d59ada02395c53b97243ae64eee421f21d11193e",
      "stage": 2,
      "kind": "repeat",
      "history": "current_repeat",
      "seed_base": 314,
      "seed": 367,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Disengage from the upright bottle",
      "training_windows": 952,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1107
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_0",
      "context": "4a9bc0e48c7457d723605453cda91592f30854d81c7a70b7763b9e3f6340c819",
      "stage": 0,
      "kind": "intervention",
      "history": "true_history",
      "seed_base": 42,
      "seed": 95,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Approach the bottle for grasping",
      "training_windows": 3321,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1108
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_0",
      "context": "4a9bc0e48c7457d723605453cda91592f30854d81c7a70b7763b9e3f6340c819",
      "stage": 0,
      "kind": "intervention",
      "history": "true_history",
      "seed_base": 314,
      "seed": 367,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Approach the bottle for grasping",
      "training_windows": 3321,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1109
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_0",
      "context": "4a9bc0e48c7457d723605453cda91592f30854d81c7a70b7763b9e3f6340c819",
      "stage": 0,
      "kind": "intervention",
      "history": "current_repeat",
      "seed_base": 42,
      "seed": 95,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Approach the bottle for grasping",
      "training_windows": 3321,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1110
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_0",
      "context": "4a9bc0e48c7457d723605453cda91592f30854d81c7a70b7763b9e3f6340c819",
      "stage": 0,
      "kind": "intervention",
      "history": "current_repeat",
      "seed_base": 314,
      "seed": 367,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Approach the bottle for grasping",
      "training_windows": 3321,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1111
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_1",
      "context": "eaf888d242ecdb3ce234a913840737c986ed14f77905ac9c69d4185dfc0827e4",
      "stage": 1,
      "kind": "intervention",
      "history": "true_history",
      "seed_base": 42,
      "seed": 95,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Reorient the bottle upright",
      "training_windows": 3504,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1112
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_1",
      "context": "eaf888d242ecdb3ce234a913840737c986ed14f77905ac9c69d4185dfc0827e4",
      "stage": 1,
      "kind": "intervention",
      "history": "true_history",
      "seed_base": 314,
      "seed": 367,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Reorient the bottle upright",
      "training_windows": 3504,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1113
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_1",
      "context": "eaf888d242ecdb3ce234a913840737c986ed14f77905ac9c69d4185dfc0827e4",
      "stage": 1,
      "kind": "intervention",
      "history": "current_repeat",
      "seed_base": 42,
      "seed": 95,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Reorient the bottle upright",
      "training_windows": 3504,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1114
    },
    {
      "case": "ep000927-t000488",
      "name": "stage_1",
      "context": "eaf888d242ecdb3ce234a913840737c986ed14f77905ac9c69d4185dfc0827e4",
      "stage": 1,
      "kind": "intervention",
      "history": "current_repeat",
      "seed_base": 314,
      "seed": 367,
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Reorient the bottle upright",
      "training_windows": 3504,
      "physical_admissibility": "not established; exact training text alone does not establish state feasibility",
      "id": 1115
    }
  ],
  "checkpoints": [
    2500,
    5000
  ],
  "closed_loop": false,
  "notes": "All 16 validation episodes; all 54 stage midpoint factual controls plus episode starts. Each alternative is an exact full training prompt from the same task. No counterfactual GT or simulator success claim."
}