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      {
        "history": "current_repeat",
        "variant": "full_original",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
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      {
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        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b"
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      {
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        "prompt": "Robot: robocoin_agilex_decoupled_hd. 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": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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      {
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. 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": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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      {
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        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
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      {
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
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      {
        "history": "current_repeat",
        "variant": "l3_conflict",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
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      {
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        "variant": "l3_conflict",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
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      {
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        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b"
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      {
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        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
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      {
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        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. 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": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
      },
      {
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. 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": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
      },
      {
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        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
      },
      {
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
      },
      {
        "history": "reverse_past",
        "variant": "l3_conflict",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
      },
      {
        "history": "reverse_past",
        "variant": "l3_conflict",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "227f530604e5caa7c92c9c6c2badfbb61bb49d67a40762840958fae44c93efe0"
      },
      {
        "history": "true_history",
        "variant": "full_original",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b"
      },
      {
        "history": "true_history",
        "variant": "full_original",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "881ed750a8f44c7d87fdb3f20f256132a5cc215c2436dd5a2d840d0985a83d3b"
      },
      {
        "history": "true_history",
        "variant": "full_stop",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. 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": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
      },
      {
        "history": "true_history",
        "variant": "full_stop",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. 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": "e0211ed0f2ab498225fa1fe354414acda33d55ff14ad5956290a03f5de1dc3c7"
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      {
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        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
      },
      {
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        "variant": "full_swap_l1",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "fdd4fe954fb06bbb25a358115d6e8e9ae44ededd6e277263e90c4eaa81377c72"
      },
      {
        "history": "true_history",
        "variant": "l1_conflict",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
        "context": "8c82f79f30d41f3c0a00f47ba9c859ff57bf158f776bcc665609eb87aea18354"
      },
      {
        "history": "true_history",
        "variant": "l1_conflict",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Scoop a spoonful of beans into the cup\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
        "context": "8c82f79f30d41f3c0a00f47ba9c859ff57bf158f776bcc665609eb87aea18354"
      },
      {
        "history": "true_history",
        "variant": "l1_only_original",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "7ad00156a568375367657b1b631644287ef46a954e15d311fd0f685a7e60d85a"
      },
      {
        "history": "true_history",
        "variant": "l1_only_original",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: left arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "7ad00156a568375367657b1b631644287ef46a954e15d311fd0f685a7e60d85a"
      },
      {
        "history": "true_history",
        "variant": "l1_only_stop",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
        "context": "90d0afd5583d741c3b567d1feabe073ca5a37c149e55a25e720a7bc48c0ebd1f"
      },
      {
        "history": "true_history",
        "variant": "l1_only_stop",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
        "context": "90d0afd5583d741c3b567d1feabe073ca5a37c149e55a25e720a7bc48c0ebd1f"
      },
      {
        "history": "true_history",
        "variant": "l1_only_swap",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_hd\nAtomic instruction: right arm: Scoop coffee beans from the black container and pour them into the red cup.",
        "context": "aeba9d7338d3fec531ef9acc418d27c78aaf17d3b0a65630c74f66896a239739"
      },
      {
        "history": "true_history",
        "variant": "l1_only_swap",
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        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.",
        "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997"
      },
      {
        "history": "current_repeat",
        "variant": "full_stop",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. 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": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21"
      },
      {
        "history": "current_repeat",
        "variant": "full_stop",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. 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": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21"
      },
      {
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        "variant": "full_swap_l1",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.",
        "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd"
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        "history": "current_repeat",
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.",
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        "variant": "l3_conflict",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.",
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        "variant": "l3_conflict",
        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: Raise the left arm; keep the right arm still.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.",
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        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.",
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: left arm: Move the left arm towards the tomato slice on the left side of the tray. right arm: Release the tomato slice onto the lettuce leaf.",
        "context": "abcfd746aaab2d636f0fe8ae08003bb295259fb6bcac42732d8ce5f3b09cd997"
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        "variant": "full_stop",
        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. 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": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21"
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        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. 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": "37119dce46922e367d732737375ba62ced261474b9e12ef24d1b6fba91870b21"
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        "seed": 314,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.",
        "context": "9a8760327ccdb2cb0b15ef65d0a63bef08e3263587b3f48da65af98eda9757fd"
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        "seed": 42,
        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.\nSubtask context (ordered by onset): Pick up the tomato slice with the left gripper\nAtomic instruction: right arm: Move the right arm towards the tomato slice on the left side of the tray. left arm: Release the tomato slice onto the lettuce leaf.",
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        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. 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.",
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        "prompt": "Robot: robocoin_agilex_decoupled_with_high_realsense. 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.",
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        "context": "99e594d4fb7f27b75651c5ea03c8ba8762ee55dc70675fd996dae1c2ae0ee531"
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  {
    "case_id": "case05",
    "case_ordinal": 8,
    "dataset_tree": "agibotworld_2026_lerobot_v3/s216a44_rl",
    "dataset_family": "agibotworld_2026_lerobot_v3",
    "processed_shard": "c000-f021",
    "processed_episode": 981,
    "original_source_id": "agibotworld_2026_lerobot_v3:ReinforcementLearning__Industry__task_7093__PolicyRollout__20758141_20758461#18",
    "split": "validation",
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        "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2"
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        "context": "cf4d1da7eaafe54aafb00d18ee5ac4927e8d1e265e8e1997d8eaeead39a313f2"
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  {
    "case_id": "case04",
    "case_ordinal": 9,
    "dataset_tree": "agibotworld_2026_lerobot_v3/s216a44",
    "dataset_family": "agibotworld_2026_lerobot_v3",
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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 placed the three-pack of instant noodles it was holding into the shopping cart.\nAtomic instruction: left arm: Hold the three-pack of instant noodles steady while the robot rotates and lowers its body. right arm: Place the three-pack of instant noodles into the shopping cart.",
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          "wrist_left": {
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    "diagnostics": [
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        "seed": 314,
        "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.",
        "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39"
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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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        "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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        "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: 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: 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: 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.",
        "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39"
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        "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39"
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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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        "seed": 314,
        "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.",
        "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826"
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        "seed": 42,
        "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.",
        "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826"
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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.",
        "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0"
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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.",
        "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39"
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        "seed": 42,
        "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.",
        "context": "d74ca6454337baf256386dfefbfec38e9eb821aa814c7e3033c4b43208673d39"
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      {
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        "variant": "full_stop",
        "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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        "seed": 314,
        "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.",
        "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826"
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        "seed": 42,
        "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.",
        "context": "18366040c94a320349fbc7ddc4e449cc023c01191653d02f6c3600e454159826"
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      {
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        "seed": 314,
        "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.",
        "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204"
      },
      {
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        "variant": "l1_conflict",
        "seed": 42,
        "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.",
        "context": "ab0337bfd044ebc07b946c33b2b13b6f8a437b28ed58e43b65fb8483f7c19204"
      },
      {
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        "variant": "l1_only_original",
        "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"
      },
      {
        "history": "true_history",
        "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"
      },
      {
        "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",
        "variant": "l1_only_stop",
        "seed": 42,
        "prompt": "Robot: s169a40_hires\nAtomic instruction: Both arms: Hold still and keep the grippers unchanged.",
        "context": "8f6351c59e2caa52aca6c3ec8ae4d8b82f1fd39fa1b6ae256b21024f3ba1fc26"
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      {
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        "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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      {
        "history": "true_history",
        "variant": "l3_conflict",
        "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.",
        "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0"
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      {
        "history": "true_history",
        "variant": "l3_conflict",
        "seed": 42,
        "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.",
        "context": "1f05df61ab8c7b03e74c37dc2701484965f54eb42a0e6912c9176e1ca1d66ed0"
      },
      {
        "history": "true_history",
        "variant": "l3_only_edit",
        "seed": 314,
        "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.",
        "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d"
      },
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        "seed": 42,
        "prompt": "Robot: s169a40_hires. Task: Raise the left arm; keep the right arm still.",
        "context": "aa5a7ae0fd984e3d21940ee62912d5d82fc3f0abbb9cead551941cddeb9d774d"
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        "context": "e3b3fe3a22dd396902c03adb1ba9b0ac3ea6d1fe93eaf3083881a2b4410cb239"
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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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