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      "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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      "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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    {
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      "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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      "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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    {
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      "seed": 314,
      "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91"
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      "seed": 42,
      "prompt": "Robot: s169a40_hires. Task: Stop and remain still.\nSubtask context (ordered by onset): Hold both arms still.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "fbce171c1da9cfeca9d20ec5f57db4f381cd9da1da2e6982dd2485f00be0da91"
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    {
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      "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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      "prompt": "Robot: s169a40_hires. Task: Put the three-pack instant noodles from the shelf into the shopping cart.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
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      "seed": 314,
      "prompt": "Robot: s169a40_hires\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
      "context": "3978e7da65a8f43c5a470b9f537b59880597dc5ee954b059a5c07a48504adf7f"
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    {
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      "variant": "l1_only_original",
      "seed": 42,
      "prompt": "Robot: s169a40_hires\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
      "context": "3978e7da65a8f43c5a470b9f537b59880597dc5ee954b059a5c07a48504adf7f"
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    {
      "history": "true_history",
      "variant": "l1_only_stop",
      "seed": 314,
      "prompt": "Robot: s169a40_hires\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "8f6351c59e2caa52aca6c3ec8ae4d8b82f1fd39fa1b6ae256b21024f3ba1fc26"
    },
    {
      "history": "true_history",
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      "seed": 42,
      "prompt": "Robot: s169a40_hires\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
      "context": "8f6351c59e2caa52aca6c3ec8ae4d8b82f1fd39fa1b6ae256b21024f3ba1fc26"
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    {
      "history": "true_history",
      "variant": "l1_only_swap",
      "seed": 314,
      "prompt": "Robot: s169a40_hires\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
      "context": "74b0056917cb37f5f9f3ae2abfa108caf8525d38ac14910b1f58312876c12b7c"
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    {
      "history": "true_history",
      "variant": "l1_only_swap",
      "seed": 42,
      "prompt": "Robot: s169a40_hires\nAtomic instruction: right arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. left arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
      "context": "74b0056917cb37f5f9f3ae2abfa108caf8525d38ac14910b1f58312876c12b7c"
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    {
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      "seed": 314,
      "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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      "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): The right arm picks up a three-pack of instant noodles from the shelf.; Waist rotation.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Hold the three-pack of instant noodles steady while the robot adjusts its posture.",
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      "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.",
      "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d"
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    {
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      "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.",
      "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d"
    },
    {
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