{
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      "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",
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      "closed_command_arms": [],
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      "file": "ep000059-t000000.npz",
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    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000109-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.8
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000187-t000000.npz",
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      "stage_remaining_seconds": 3.72
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    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000207-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.0
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000261-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.52
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000342-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 6.6
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000431-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.32
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000447-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.8
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000511-t000000.npz",
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      "stage_remaining_seconds": 3.92
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    {
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      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000563-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.2
    },
    {
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      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000623-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 3.32
    },
    {
      "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": [
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      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000672-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.52
    },
    {
      "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": [
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      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000757-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.6
    },
    {
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      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 795,
      "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": [
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        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000795-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 4.8
    },
    {
      "id": "ep000922-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 922,
      "start": 0,
      "task_index": 7,
      "task": "stand the bottle upright",
      "stage": 0,
      "original_context": "4a9bc0e48c7457d723605453cda91592f30854d81c7a70b7763b9e3f6340c819",
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Approach the bottle for grasping",
      "initial_gripper": [
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        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000922-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 8.6
    },
    {
      "id": "ep000927-t000000",
      "cohort": "episode_start",
      "baseline_index": null,
      "episode": 927,
      "start": 0,
      "task_index": 7,
      "task": "stand the bottle upright",
      "stage": 0,
      "original_context": "4a9bc0e48c7457d723605453cda91592f30854d81c7a70b7763b9e3f6340c819",
      "prompt": "Robot: g2_dualarm_ee. Task: stand the bottle upright\nCurrent subtask: Approach the bottle for grasping",
      "initial_gripper": [
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        1.0
      ],
      "closed_command_arms": [],
      "grasp_contact_verified": false,
      "file": "ep000927-t000000.npz",
      "window_crosses_stage": false,
      "stage_remaining_seconds": 8.2
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  "horizons": [
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  "protocol": {
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    "interpretation": "Generated-feedback rollout; not environment execution or semantic success. Same-task stage alternatives may have unmet preconditions at episode start."
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}