diff --git a/.gitattributes b/.gitattributes
index 5bc18d8a60d484810983b82cc44003467d8267ac..c3e2b73d58753e099e75d57b6852cc18641da3a0 100644
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+{"episode_index": 85, "tasks": ["bench pick and place items16 evenly distributed round", "qualified", "左手拿起手机壳放到托盘里@Pick up the phone case with the left hand and place it in the tray."], "length": 333, "raw_file_name": "S2RL1009P25143_20251022154049736_RAW.bag"}
+{"episode_index": 86, "tasks": ["右手拿起水槽放到托盘里@Pick up the sink with the right hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 352, "raw_file_name": "S2RL1009P25143_20251022154019535_RAW.bag"}
+{"episode_index": 87, "tasks": ["bench pick and place items16 evenly distributed round", "qualified", "右手拿起盘子放到托盘里@Pick up the plate with your right hand and place it on the tray."], "length": 387, "raw_file_name": "S2RL1009P25143_20251022153946535_RAW.bag"}
+{"episode_index": 88, "tasks": ["bench pick and place items16 evenly distributed round", "左手拿起活性炭放到托盘里@Pick up the activated carbon with the left hand and place it in the tray.", "qualified"], "length": 361, "raw_file_name": "S2RL1009P25143_20251022153916834_RAW.bag"}
+{"episode_index": 89, "tasks": ["左手拿起骰子到托盘里@Pick up the dice with the left hand and place it into the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 383, "raw_file_name": "S2RL1009P25143_20251022164556685_RAW.bag"}
+{"episode_index": 90, "tasks": ["bench pick and place items16 evenly distributed round", "左手拿起酒精放到托盘里@Pick up the alcohol with the left hand and place it on the tray.", "qualified"], "length": 306, "raw_file_name": "S2RL1009P25143_20251022153851335_RAW.bag"}
+{"episode_index": 91, "tasks": ["bench pick and place items16 evenly distributed round", "右手拿起开瓶器放到托盘里@Pick up the bottle opener with your right hand and place it on the tray.", "qualified"], "length": 329, "raw_file_name": "S2RL1009P25143_20251022153615435_RAW.bag"}
+{"episode_index": 92, "tasks": ["bench pick and place items16 evenly distributed round", "左手拿起黄色电池放到托盘里@Pick up the yellow battery with the left hand and place it on the tray.", "qualified"], "length": 383, "raw_file_name": "S2RL1009P25143_20251022153544032_RAW.bag"}
+{"episode_index": 93, "tasks": ["右手拿起手帕纸放到托盘里@Pick up the tissue with the right hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 349, "raw_file_name": "S2RL1009P25143_20251022153514134_RAW.bag"}
+{"episode_index": 94, "tasks": ["左手拿起盘子放到托盘里@Pick up the plate with your left hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 380, "raw_file_name": "S2RL1009P25143_20251022153443530_RAW.bag"}
+{"episode_index": 95, "tasks": ["qualified", "左手拿起盘子放到托盘里@Pick up the plate with the left hand and place it on the tray.", "静止不动@Remain still.", "unqualified", "bench pick and place items16 evenly distributed round"], "length": 342, "raw_file_name": "S2RL1009P25143_20251022153339530_RAW.bag"}
+{"episode_index": 96, "tasks": ["右手拿起小熊玩偶放到托盘里@Pick up the teddy bear with the right hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 354, "raw_file_name": "S2RL1009P25143_20251022153301931_RAW.bag"}
+{"episode_index": 97, "tasks": ["右手拿起擀面杖放到托盘里@Pick up the rolling pin with your right hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 369, "raw_file_name": "S2RL1009P25143_20251022153233329_RAW.bag"}
+{"episode_index": 98, "tasks": ["bench pick and place items16 evenly distributed round", "左手拿起糖盒放到托盘里@Pick up the sugar box with the left hand and place it on the tray.", "qualified"], "length": 335, "raw_file_name": "S2RL1009P25143_20251022153151128_RAW.bag"}
+{"episode_index": 99, "tasks": ["bench pick and place items16 evenly distributed round", "右手拿起骰子到托盘里@Pick up the dice with the right hand and place it into the tray.", "qualified"], "length": 338, "raw_file_name": "S2RL1009P25143_20251022153122528_RAW.bag"}
+{"episode_index": 100, "tasks": ["左手拿起水槽放到托盘里@Pick up the sink with the left hand and place it on the tray.", "qualified", "静止不动@Remain still.", "unqualified", "bench pick and place items16 evenly distributed round"], "length": 368, "raw_file_name": "S2RL1009P25143_20251022164526284_RAW.bag"}
+{"episode_index": 101, "tasks": ["左手拿起小黄鸭玩具放到托盘里@Pick up the yellow duck toy with the left hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 291, "raw_file_name": "S2RL1009P25143_20251022153056629_RAW.bag"}
+{"episode_index": 102, "tasks": ["bench pick and place items16 evenly distributed round", "qualified", "左手拿起印章放到托盘里@Pick up the stamp with the left hand and place it in the tray."], "length": 312, "raw_file_name": "S2RL1009P25143_20251022152853627_RAW.bag"}
+{"episode_index": 103, "tasks": ["bench pick and place items16 evenly distributed round", "左手拿起手帕纸放到托盘里@Pick up the tissue with the left hand and place it on the tray.", "qualified"], "length": 373, "raw_file_name": "S2RL1009P25143_20251022152823126_RAW.bag"}
+{"episode_index": 104, "tasks": ["bench pick and place items16 evenly distributed round", "qualified", "右手拿起黄色电池放到托盘里@Pick up the yellow battery with the right hand and place it on the tray."], "length": 334, "raw_file_name": "S2RL1009P25143_20251022152755725_RAW.bag"}
+{"episode_index": 105, "tasks": ["bench pick and place items16 evenly distributed round", "右手拿起开瓶器放到托盘里@Pick up the bottle opener with your right hand and place it on the tray.", "qualified"], "length": 348, "raw_file_name": "S2RL1009P25143_20251022152727226_RAW.bag"}
+{"episode_index": 106, "tasks": ["右手拿起洗洁精放到托盘里@Pick up the detergent with the right hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 386, "raw_file_name": "S2RL1009P25143_20251022152655128_RAW.bag"}
+{"episode_index": 107, "tasks": ["qualified", "静止不动@Remain still.", "unqualified", "左手拿起橡皮筒放到托盘里@Pick up the rubber tube with the left hand and place it on the tray.", "bench pick and place items16 evenly distributed round"], "length": 298, "raw_file_name": "S2RL1009P25143_20251022152600924_RAW.bag"}
+{"episode_index": 108, "tasks": ["右手拿起3+2饼干放到托盘里@Pick up the 3+2 biscuit with the right hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 398, "raw_file_name": "S2RL1009P25143_20251022152504727_RAW.bag"}
+{"episode_index": 109, "tasks": ["左手拿起电视遥控器放到托盘里@Pick up the TV remote with your left hand and place it on the tray.", "bench pick and place items16 evenly distributed round", "qualified"], "length": 337, "raw_file_name": "S2RL1009P25143_20251022152435823_RAW.bag"}
+{"episode_index": 110, "tasks": ["bench pick and place items16 evenly distributed round", "qualified", "右手拿起大电池放到托盘里@Pick up the large battery with the right hand and place it on the tray."], "length": 321, "raw_file_name": "S2RL1009P25143_20251022152407126_RAW.bag"}
diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/episodes_stats.jsonl b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5dd53a296bb4fa2ce418da175e4ecfb841d9f7a8
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/episodes_stats.jsonl
@@ -0,0 +1,111 @@
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diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/info.json b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff1eb7ed5d41116aff7b5aa168c34bdb2151d1ce
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/info.json
@@ -0,0 +1,520 @@
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+        },
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+            "names": null
+        },
+        "right_wrist_uv_right_projection": {
+            "dtype": "float64",
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+            ],
+            "names": null
+        },
+        "right_wrist_visb_left": {
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+                1
+            ],
+            "names": null
+        },
+        "right_wrist_visb_right": {
+            "dtype": "int32",
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+            ],
+            "names": null
+        },
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+            "dtype": "float64",
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+            ],
+            "names": null
+        },
+        "bbox_bottom_right_point": {
+            "dtype": "float64",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "bbox_rotation_angle": {
+            "dtype": "float64",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "observation.state.left_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_left.position[0]",
+                "/hdas/feedback_arm_left.position[1]",
+                "/hdas/feedback_arm_left.position[2]",
+                "/hdas/feedback_arm_left.position[3]",
+                "/hdas/feedback_arm_left.position[4]",
+                "/hdas/feedback_arm_left.position[5]"
+            ]
+        },
+        "observation.state.left_arm.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_left.velocity[0]",
+                "/hdas/feedback_arm_left.velocity[1]",
+                "/hdas/feedback_arm_left.velocity[2]",
+                "/hdas/feedback_arm_left.velocity[3]",
+                "/hdas/feedback_arm_left.velocity[4]",
+                "/hdas/feedback_arm_left.velocity[5]"
+            ]
+        },
+        "observation.state.right_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_right.position[0]",
+                "/hdas/feedback_arm_right.position[1]",
+                "/hdas/feedback_arm_right.position[2]",
+                "/hdas/feedback_arm_right.position[3]",
+                "/hdas/feedback_arm_right.position[4]",
+                "/hdas/feedback_arm_right.position[5]"
+            ]
+        },
+        "observation.state.right_arm.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_right.velocity[0]",
+                "/hdas/feedback_arm_right.velocity[1]",
+                "/hdas/feedback_arm_right.velocity[2]",
+                "/hdas/feedback_arm_right.velocity[3]",
+                "/hdas/feedback_arm_right.velocity[4]",
+                "/hdas/feedback_arm_right.velocity[5]"
+            ]
+        },
+        "observation.state.chassis.imu": {
+            "dtype": "float64",
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+                10
+            ],
+            "names": [
+                "/hdas/imu_chassis.orientation.x",
+                "/hdas/imu_chassis.orientation.y",
+                "/hdas/imu_chassis.orientation.z",
+                "/hdas/imu_chassis.orientation.w",
+                "/hdas/imu_chassis.angular_velocity.x",
+                "/hdas/imu_chassis.angular_velocity.y",
+                "/hdas/imu_chassis.angular_velocity.z",
+                "/hdas/imu_chassis.linear_acceleration.x",
+                "/hdas/imu_chassis.linear_acceleration.y",
+                "/hdas/imu_chassis.linear_acceleration.z"
+            ]
+        },
+        "observation.state.chassis": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "/hdas/feedback_chassis.position[0]",
+                "/hdas/feedback_chassis.position[1]",
+                "/hdas/feedback_chassis.position[2]"
+            ]
+        },
+        "observation.state.chassis.velocities": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "/hdas/feedback_chassis.velocity[0]",
+                "/hdas/feedback_chassis.velocity[1]",
+                "/hdas/feedback_chassis.velocity[2]"
+            ]
+        },
+        "observation.state.torso": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "/hdas/feedback_torso.position[0]",
+                "/hdas/feedback_torso.position[1]",
+                "/hdas/feedback_torso.position[2]",
+                "/hdas/feedback_torso.position[3]"
+            ]
+        },
+        "observation.state.torso.velocities": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "/hdas/feedback_torso.velocity[0]",
+                "/hdas/feedback_torso.velocity[1]",
+                "/hdas/feedback_torso.velocity[2]",
+                "/hdas/feedback_torso.velocity[3]"
+            ]
+        },
+        "observation.state.left_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/hdas/feedback_gripper_left.position[0]"
+            ]
+        },
+        "observation.state.right_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/hdas/feedback_gripper_right.position[0]"
+            ]
+        },
+        "observation.state.left_ee_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "/motion_control/pose_ee_arm_left.pose.position.x",
+                "/motion_control/pose_ee_arm_left.pose.position.y",
+                "/motion_control/pose_ee_arm_left.pose.position.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.x",
+                "/motion_control/pose_ee_arm_left.pose.orientation.y",
+                "/motion_control/pose_ee_arm_left.pose.orientation.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.w"
+            ]
+        },
+        "observation.state.right_ee_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "/motion_control/pose_ee_arm_right.pose.position.x",
+                "/motion_control/pose_ee_arm_right.pose.position.y",
+                "/motion_control/pose_ee_arm_right.pose.position.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.x",
+                "/motion_control/pose_ee_arm_right.pose.orientation.y",
+                "/motion_control/pose_ee_arm_right.pose.orientation.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.w"
+            ]
+        },
+        "action.left_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/motion_target/target_position_gripper_left.position[0]"
+            ]
+        },
+        "action.right_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/motion_target/target_position_gripper_right.position[0]"
+            ]
+        },
+        "action.chassis.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_speed_chassis.twist.linear.x",
+                "/motion_target/target_speed_chassis.twist.linear.y",
+                "/motion_target/target_speed_chassis.twist.linear.z",
+                "/motion_target/target_speed_chassis.twist.angular.x",
+                "/motion_target/target_speed_chassis.twist.angular.y",
+                "/motion_target/target_speed_chassis.twist.angular.z"
+            ]
+        },
+        "action.torso.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_speed_torso.twist.linear.x",
+                "/motion_target/target_speed_torso.twist.linear.y",
+                "/motion_target/target_speed_torso.twist.linear.z",
+                "/motion_target/target_speed_torso.twist.angular.x",
+                "/motion_target/target_speed_torso.twist.angular.y",
+                "/motion_target/target_speed_torso.twist.angular.z"
+            ]
+        },
+        "action.left_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_joint_state_arm_left.position[0]",
+                "/motion_target/target_joint_state_arm_left.position[1]",
+                "/motion_target/target_joint_state_arm_left.position[2]",
+                "/motion_target/target_joint_state_arm_left.position[3]",
+                "/motion_target/target_joint_state_arm_left.position[4]",
+                "/motion_target/target_joint_state_arm_left.position[5]"
+            ]
+        },
+        "action.right_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_joint_state_arm_right.position[0]",
+                "/motion_target/target_joint_state_arm_right.position[1]",
+                "/motion_target/target_joint_state_arm_right.position[2]",
+                "/motion_target/target_joint_state_arm_right.position[3]",
+                "/motion_target/target_joint_state_arm_right.position[4]",
+                "/motion_target/target_joint_state_arm_right.position[5]"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "coarse_task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
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+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "quality_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/tasks.jsonl b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90fd54589a1cf2ee0b4aa8aea686275aed004f1a
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018/meta/tasks.jsonl
@@ -0,0 +1,55 @@
+{"task_index": 0, "task": "右手拿起手帕纸放到托盘里@Pick up the tissue with your right hand and place it on the tray."}
+{"task_index": 1, "task": "bench pick and place items16 evenly distributed round"}
+{"task_index": 2, "task": "qualified"}
+{"task_index": 3, "task": "左手拿起洗洁精放到托盘里@Pick up the detergent with the left hand and place it on the tray."}
+{"task_index": 4, "task": "静止不动@Remain still."}
+{"task_index": 5, "task": "unqualified"}
+{"task_index": 6, "task": "左手拿起橡皮筒放到托盘里@Pick up the rubber tube with the left hand and place it on the tray."}
+{"task_index": 7, "task": "左手拿起南瓜放到托盘里@Pick up the pumpkin with your left hand and place it on the tray."}
+{"task_index": 8, "task": "左手拿起洗洁精放到托盘里@Pick up the detergent with your left hand and place it on the tray."}
+{"task_index": 9, "task": "右手拿起橡皮筒放到托盘里@Pick up the rubber tube with the right hand and place it on the tray."}
+{"task_index": 10, "task": "右手拿起大电池放到托盘里@Pick up the large battery with the right hand and place it on the tray."}
+{"task_index": 11, "task": "左手拿起电视遥控器放到托盘里@Pick up the TV remote with the left hand and place it on the tray."}
+{"task_index": 12, "task": "右手拿起水槽放到托盘里@Pick up the sink with the right hand and place it on the tray."}
+{"task_index": 13, "task": "右手拿起酒精放到托盘里@Pick up the alcohol with the right hand and place it on the tray."}
+{"task_index": 14, "task": "左手拿起擀面杖放到托盘里@Pick up the rolling pin with your left hand and place it on the tray."}
+{"task_index": 15, "task": "左手拿起骰子到托盘里@Pick up the dice with the left hand and place it into the tray."}
+{"task_index": 16, "task": "右手拿起手机壳放到托盘里@Pick up the phone case with the right hand and place it in the tray."}
+{"task_index": 17, "task": "右手拿起印章放到托盘里@Pick up the stamp with your right hand and place it on the tray."}
+{"task_index": 18, "task": "左手拿起活性炭放到托盘里@Pick up the activated carbon with the left hand and place it in the tray."}
+{"task_index": 19, "task": "右手拿起小黄鸭玩具放到托盘里@Pick up the yellow duck toy with the right hand and place it on the tray."}
+{"task_index": 20, "task": "左手拿起糖盒放到托盘里@Pick up the sugar box with your left hand and place it on the tray."}
+{"task_index": 21, "task": "左手拿起开瓶器放到托盘里@Pick up the bottle opener with your left hand and place it on the tray."}
+{"task_index": 22, "task": "左手拿起黄色电池放到托盘里@Pick up the yellow battery with the left hand and place it on the tray."}
+{"task_index": 23, "task": "右手拿起活性炭放到托盘里@Pick up the activated carbon with the right hand and place it on the tray."}
+{"task_index": 24, "task": "右手拿起洗洁精放到托盘里@Pick up the detergent with the right hand and place it on the tray."}
+{"task_index": 25, "task": "右手拿起活性炭放到托盘里@Pick up the activated carbon with the right hand and place it in the tray."}
+{"task_index": 26, "task": "左手拿起大电池放到托盘里@Pick up the large battery with the left hand and place it on the tray."}
+{"task_index": 27, "task": "左手拿起酒精放到托盘里@Pick up the alcohol with the left hand and place it on the tray."}
+{"task_index": 28, "task": "右手拿起开瓶器放到托盘里@Pick up the bottle opener with your right hand and place it on the tray."}
+{"task_index": 29, "task": "右手拿起黄色电池放到托盘里@Pick up the yellow battery with the right hand and place it on the tray."}
+{"task_index": 30, "task": "左手拿起手机壳放到托盘里@Pick up the phone case with the left hand and place it in the tray."}
+{"task_index": 31, "task": "右手拿起小熊玩偶放到托盘里@Pick up the teddy bear with the right hand and place it on the tray."}
+{"task_index": 32, "task": "右手拿起盘子放到托盘里@Pick up the plate with your right hand and place it on the tray."}
+{"task_index": 33, "task": "左手拿起电视遥控器放到托盘里@Pick up the TV remote with your left hand and place it on the tray."}
+{"task_index": 34, "task": "右手拿起印章放到托盘里@Pick up the stamp with the right hand and place it into the tray."}
+{"task_index": 35, "task": "左手拿起小黄鸭玩具放到托盘里@Pick up the yellow duck toy with the left hand and place it on the tray."}
+{"task_index": 36, "task": "右手拿起手帕纸放到托盘里@Pick up the tissue with the right hand and place it on the tray."}
+{"task_index": 37, "task": "左手拿起南瓜放到托盘里@Pick up the pumpkin with the left hand and place it on the tray."}
+{"task_index": 38, "task": "右手拿起糖盒放到托盘里@Pick up the sugar box with your right hand and place it on the tray."}
+{"task_index": 39, "task": "右手拿起印章放到托盘里@Pick up the stamp with the right hand and place it on the tray."}
+{"task_index": 40, "task": "右手拿起擀面杖放到托盘里@Pick up the rolling pin with the right hand and place it on the tray."}
+{"task_index": 41, "task": "右手拿起电视遥控器放到托盘里@Pick up the TV remote with the right hand and place it on the tray."}
+{"task_index": 42, "task": "右手拿起骰子到托盘里@Pick up the dice with the right hand and place it into the tray."}
+{"task_index": 43, "task": "左手拿起印章放到托盘里@Pick up the stamp with the left hand and place it in the tray."}
+{"task_index": 44, "task": "左手拿起盘子放到托盘里@Pick up the plate with the left hand and place it on the tray."}
+{"task_index": 45, "task": "左手拿起水槽放到托盘里@Pick up the sink with the left hand and place it on the tray."}
+{"task_index": 46, "task": "右手拿起3+2饼干放到托盘里@Pick up the 3+2 biscuit with the right hand and place it on the tray."}
+{"task_index": 47, "task": "右手拿起电视遥控器放到托盘里@Pick up the TV remote with your right hand and place it on the tray."}
+{"task_index": 48, "task": "右手拿起小熊玩偶放到托盘里@Pick up the teddy bear with your right hand and place it on the tray."}
+{"task_index": 49, "task": "静止不动@Remain motionless."}
+{"task_index": 50, "task": "左手拿起3+2饼干放到托盘里@Pick up the 3+2 biscuit with your left hand and place it on the tray."}
+{"task_index": 51, "task": "左手拿起盘子放到托盘里@Pick up the plate with your left hand and place it on the tray."}
+{"task_index": 52, "task": "右手拿起擀面杖放到托盘里@Pick up the rolling pin with your right hand and place it on the tray."}
+{"task_index": 53, "task": "左手拿起糖盒放到托盘里@Pick up the sugar box with the left hand and place it on the tray."}
+{"task_index": 54, "task": "左手拿起手帕纸放到托盘里@Pick up the tissue with the left hand and place it on the tray."}
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+{"episode_index": 95, "tasks": ["机器未动@Machine not moving.", "unqualified", "左手拿起豆干放到托盘里@Pick up the dried tofu with the left hand and place it on the tray.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 348, "raw_file_name": "RB250319014_20251024123830559_RAW.bag"}
+{"episode_index": 96, "tasks": ["机器未动@Machine not moving.", "unqualified", "bench pick and place items57 evenly distributed round", "qualified", "左手拿起牙签筒放到托盘里@Pick up the toothpick container with your left hand and place it on the tray."], "length": 349, "raw_file_name": "RB250319014_20251024123802445_RAW.bag"}
+{"episode_index": 97, "tasks": ["右手拿起棉签放到托盘里@Pick up the cotton swab with the right hand and place it in the tray.", "机器未动@Machine not moving.", "unqualified", "bench pick and place items57 evenly distributed round", "qualified"], "length": 310, "raw_file_name": "RB250319014_20251024123738332_RAW.bag"}
+{"episode_index": 98, "tasks": ["右手拿起牛奶放到托盘里@Pick up the milk with your right hand and place it on the tray.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 321, "raw_file_name": "RB250319014_20251024123713020_RAW.bag"}
+{"episode_index": 99, "tasks": ["左手拿起火锅底料放到托盘里@Pick up the hot pot base with the left hand and place it on the tray.", "机器未动@Machine not moving.", "unqualified", "bench pick and place items57 evenly distributed round", "qualified"], "length": 367, "raw_file_name": "RB250319014_20251024150737933_RAW.bag"}
+{"episode_index": 100, "tasks": ["右手拿起口香糖放到托盘里@Pick up the gum with the right hand and place it on the tray.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 300, "raw_file_name": "RB250319014_20251024122936498_RAW.bag"}
+{"episode_index": 101, "tasks": ["bench pick and place items57 evenly distributed round", "qualified", "右手拿起羽毛球放到托盘里@Pick up the badminton with the right hand and place it on the tray."], "length": 361, "raw_file_name": "RB250319014_20251024122907484_RAW.bag"}
+{"episode_index": 102, "tasks": ["unqualified", "机器未动@Machine not moving.", "bench pick and place items57 evenly distributed round", "qualified", "左手拿起502胶水放到托盘里@Pick up the 502 glue with the left hand and place it on the tray."], "length": 362, "raw_file_name": "RB250319014_20251024122834766_RAW.bag"}
+{"episode_index": 103, "tasks": ["机器未动@Machine not moving.", "unqualified", "左手拿起豆干放到托盘里@Pick up the dried tofu with the left hand and place it on the tray.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 423, "raw_file_name": "RB250319014_20251024122802352_RAW.bag"}
+{"episode_index": 104, "tasks": ["unqualified", "机器未动@Machine not moving.", "右手拿起红酒开瓶器放到托盘里@Pick up the wine opener with your right hand and place it on the tray.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 333, "raw_file_name": "RB250319014_20251024122636509_RAW.bag"}
+{"episode_index": 105, "tasks": ["unqualified", "机器未动@Machine not moving.", "右手拿起湿巾放到托盘里@Pick up the wet wipe with the right hand and place it on the tray.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 344, "raw_file_name": "RB250319014_20251024122604795_RAW.bag"}
+{"episode_index": 106, "tasks": ["左手拿起火腿肠放到托盘里@Pick up the sausage with the left hand and place it on the tray.", "unqualified", "机器未动@Machine not moving.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 370, "raw_file_name": "RB250319014_20251024122535479_RAW.bag"}
+{"episode_index": 107, "tasks": ["机器未动@Move the machine.", "左手拿起火锅底料放到托盘里@Pick up the hot pot base with the left hand and place it on the tray.", "unqualified", "bench pick and place items57 evenly distributed round", "qualified"], "length": 403, "raw_file_name": "RB250319014_20251024122500664_RAW.bag"}
+{"episode_index": 108, "tasks": ["bench pick and place items57 evenly distributed round", "右手拿起牙签筒放到托盘里@Pick up the toothpick holder with your right hand and place it on the tray.", "qualified"], "length": 342, "raw_file_name": "RB250319014_20251024122425647_RAW.bag"}
+{"episode_index": 109, "tasks": ["左手拿起固体胶放到托盘里@Pick up the glue stick with the left hand and place it in the tray.", "unqualified", "机器未动@Machine not moving.", "bench pick and place items57 evenly distributed round", "qualified"], "length": 342, "raw_file_name": "RB250319014_20251024122356131_RAW.bag"}
diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/episodes_stats.jsonl b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4353216d24f203b53c57dd83083e00ae33c8b071
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/episodes_stats.jsonl
@@ -0,0 +1,110 @@
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diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/info.json b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8aed1bad19e6c2d7d63fce1d038368c896f3d11
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/info.json
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+            "dtype": "int32",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "head_uv_left_projection": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": null
+        },
+        "head_uv_right_projection": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": null
+        },
+        "head_visb_left": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "head_visb_right": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "left_wrist_uv_left_projection": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": null
+        },
+        "left_wrist_uv_right_projection": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": null
+        },
+        "left_wrist_visb_left": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "left_wrist_visb_right": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "right_wrist_uv_left_projection": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": null
+        },
+        "right_wrist_uv_right_projection": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": null
+        },
+        "right_wrist_visb_left": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "right_wrist_visb_right": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "bbox_top_left_point": {
+            "dtype": "float64",
+            "shape": [
+                20
+            ],
+            "names": null
+        },
+        "bbox_bottom_right_point": {
+            "dtype": "float64",
+            "shape": [
+                20
+            ],
+            "names": null
+        },
+        "bbox_rotation_angle": {
+            "dtype": "float64",
+            "shape": [
+                20
+            ],
+            "names": null
+        },
+        "observation.state.left_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_left.position[0]",
+                "/hdas/feedback_arm_left.position[1]",
+                "/hdas/feedback_arm_left.position[2]",
+                "/hdas/feedback_arm_left.position[3]",
+                "/hdas/feedback_arm_left.position[4]",
+                "/hdas/feedback_arm_left.position[5]"
+            ]
+        },
+        "observation.state.left_arm.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_left.velocity[0]",
+                "/hdas/feedback_arm_left.velocity[1]",
+                "/hdas/feedback_arm_left.velocity[2]",
+                "/hdas/feedback_arm_left.velocity[3]",
+                "/hdas/feedback_arm_left.velocity[4]",
+                "/hdas/feedback_arm_left.velocity[5]"
+            ]
+        },
+        "observation.state.right_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_right.position[0]",
+                "/hdas/feedback_arm_right.position[1]",
+                "/hdas/feedback_arm_right.position[2]",
+                "/hdas/feedback_arm_right.position[3]",
+                "/hdas/feedback_arm_right.position[4]",
+                "/hdas/feedback_arm_right.position[5]"
+            ]
+        },
+        "observation.state.right_arm.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/hdas/feedback_arm_right.velocity[0]",
+                "/hdas/feedback_arm_right.velocity[1]",
+                "/hdas/feedback_arm_right.velocity[2]",
+                "/hdas/feedback_arm_right.velocity[3]",
+                "/hdas/feedback_arm_right.velocity[4]",
+                "/hdas/feedback_arm_right.velocity[5]"
+            ]
+        },
+        "observation.state.chassis.imu": {
+            "dtype": "float64",
+            "shape": [
+                10
+            ],
+            "names": [
+                "/hdas/imu_chassis.orientation.x",
+                "/hdas/imu_chassis.orientation.y",
+                "/hdas/imu_chassis.orientation.z",
+                "/hdas/imu_chassis.orientation.w",
+                "/hdas/imu_chassis.angular_velocity.x",
+                "/hdas/imu_chassis.angular_velocity.y",
+                "/hdas/imu_chassis.angular_velocity.z",
+                "/hdas/imu_chassis.linear_acceleration.x",
+                "/hdas/imu_chassis.linear_acceleration.y",
+                "/hdas/imu_chassis.linear_acceleration.z"
+            ]
+        },
+        "observation.state.chassis": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "/hdas/feedback_chassis.position[0]",
+                "/hdas/feedback_chassis.position[1]",
+                "/hdas/feedback_chassis.position[2]"
+            ]
+        },
+        "observation.state.chassis.velocities": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "/hdas/feedback_chassis.velocity[0]",
+                "/hdas/feedback_chassis.velocity[1]",
+                "/hdas/feedback_chassis.velocity[2]"
+            ]
+        },
+        "observation.state.torso": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "/hdas/feedback_torso.position[0]",
+                "/hdas/feedback_torso.position[1]",
+                "/hdas/feedback_torso.position[2]",
+                "/hdas/feedback_torso.position[3]"
+            ]
+        },
+        "observation.state.torso.velocities": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "/hdas/feedback_torso.velocity[0]",
+                "/hdas/feedback_torso.velocity[1]",
+                "/hdas/feedback_torso.velocity[2]",
+                "/hdas/feedback_torso.velocity[3]"
+            ]
+        },
+        "observation.state.left_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/hdas/feedback_gripper_left.position[0]"
+            ]
+        },
+        "observation.state.right_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/hdas/feedback_gripper_right.position[0]"
+            ]
+        },
+        "observation.state.left_ee_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "/motion_control/pose_ee_arm_left.pose.position.x",
+                "/motion_control/pose_ee_arm_left.pose.position.y",
+                "/motion_control/pose_ee_arm_left.pose.position.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.x",
+                "/motion_control/pose_ee_arm_left.pose.orientation.y",
+                "/motion_control/pose_ee_arm_left.pose.orientation.z",
+                "/motion_control/pose_ee_arm_left.pose.orientation.w"
+            ]
+        },
+        "observation.state.right_ee_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "/motion_control/pose_ee_arm_right.pose.position.x",
+                "/motion_control/pose_ee_arm_right.pose.position.y",
+                "/motion_control/pose_ee_arm_right.pose.position.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.x",
+                "/motion_control/pose_ee_arm_right.pose.orientation.y",
+                "/motion_control/pose_ee_arm_right.pose.orientation.z",
+                "/motion_control/pose_ee_arm_right.pose.orientation.w"
+            ]
+        },
+        "action.left_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/motion_target/target_position_gripper_left.position[0]"
+            ]
+        },
+        "action.right_gripper": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "/motion_target/target_position_gripper_right.position[0]"
+            ]
+        },
+        "action.chassis.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_speed_chassis.twist.linear.x",
+                "/motion_target/target_speed_chassis.twist.linear.y",
+                "/motion_target/target_speed_chassis.twist.linear.z",
+                "/motion_target/target_speed_chassis.twist.angular.x",
+                "/motion_target/target_speed_chassis.twist.angular.y",
+                "/motion_target/target_speed_chassis.twist.angular.z"
+            ]
+        },
+        "action.torso.velocities": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_speed_torso.twist.linear.x",
+                "/motion_target/target_speed_torso.twist.linear.y",
+                "/motion_target/target_speed_torso.twist.linear.z",
+                "/motion_target/target_speed_torso.twist.angular.x",
+                "/motion_target/target_speed_torso.twist.angular.y",
+                "/motion_target/target_speed_torso.twist.angular.z"
+            ]
+        },
+        "action.left_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_joint_state_arm_left.position[0]",
+                "/motion_target/target_joint_state_arm_left.position[1]",
+                "/motion_target/target_joint_state_arm_left.position[2]",
+                "/motion_target/target_joint_state_arm_left.position[3]",
+                "/motion_target/target_joint_state_arm_left.position[4]",
+                "/motion_target/target_joint_state_arm_left.position[5]"
+            ]
+        },
+        "action.right_arm": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "/motion_target/target_joint_state_arm_right.position[0]",
+                "/motion_target/target_joint_state_arm_right.position[1]",
+                "/motion_target/target_joint_state_arm_right.position[2]",
+                "/motion_target/target_joint_state_arm_right.position[3]",
+                "/motion_target/target_joint_state_arm_right.position[4]",
+                "/motion_target/target_joint_state_arm_right.position[5]"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "coarse_task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "coarse_quality_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "quality_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/tasks.jsonl b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5531dcccfa630bf1e68efa9d2767c5023dfd47df
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/meta/tasks.jsonl
@@ -0,0 +1,56 @@
+{"task_index": 0, "task": "机器未动@Machine not moving."}
+{"task_index": 1, "task": "unqualified"}
+{"task_index": 2, "task": "右手拿起梳子放到托盘里@Pick up the comb with the right hand and place it on the tray."}
+{"task_index": 3, "task": "bench pick and place items57 evenly distributed round"}
+{"task_index": 4, "task": "qualified"}
+{"task_index": 5, "task": "左手拿起红酒开瓶器放到托盘里@Pick up the wine opener with your left hand and place it on the tray."}
+{"task_index": 6, "task": "右手拿起燕尾夹放到托盘里@Pick up the bulldog clip with your right hand and place it in the tray."}
+{"task_index": 7, "task": "左手拿起梳子放到托盘里@Pick up the comb with the left hand and place it on the tray."}
+{"task_index": 8, "task": "左手拿起502胶水放到托盘里@Pick up the 502 glue with the left hand and place it on the tray."}
+{"task_index": 9, "task": "右手拿起羽毛球放到托盘里@Pick up the badminton with the right hand and place it on the tray."}
+{"task_index": 10, "task": "右手拿起红酒开瓶器放到托盘里@Pick up the wine opener with your right hand and place it on the tray."}
+{"task_index": 11, "task": "左手拿起芥末酱放到托盘里@Pick up the wasabi sauce with your left hand and place it on the tray."}
+{"task_index": 12, "task": "右手拿起火腿肠放到托盘里@Pick up the ham sausage with the right hand and place it on the tray."}
+{"task_index": 13, "task": "右手拿起湿巾放到托盘里@Pick up the wet wipe with the right hand and place it on the tray."}
+{"task_index": 14, "task": "左手拿起口香糖放到托盘里@Pick up the gum with the left hand and place it on the tray."}
+{"task_index": 15, "task": "左手拿起火锅底料放到托盘里@Pick up the hot pot base with the left hand and place it on the tray."}
+{"task_index": 16, "task": "右手拿起十三香放到托盘里@Pick up the thirteen-spice with the right hand and place it on the tray."}
+{"task_index": 17, "task": "机器未动@Move forward."}
+{"task_index": 18, "task": "右手拿起豆干放到托盘里@Pick up the dried tofu with the right hand and place it on the tray."}
+{"task_index": 19, "task": "机器未动@Move the machine."}
+{"task_index": 20, "task": "左手拿起味精放到托盘里@Pick up the MSG with your left hand and place it on the tray."}
+{"task_index": 21, "task": "左手拿起羽毛球放到托盘里@Pick up the badminton with the left hand and place it on the tray."}
+{"task_index": 22, "task": "右手拿起口香糖放到托盘里@Pick up the gum with the right hand and place it on the tray."}
+{"task_index": 23, "task": "右手拿起棉签放到托盘里@Pick up the cotton swab with the right hand and place it in the tray."}
+{"task_index": 24, "task": "右手拿起固体胶放到托盘里@Pick up the glue stick with the right hand and place it in the tray."}
+{"task_index": 25, "task": "左手拿起芥末酱放到托盘里@Pick up the wasabi with the left hand and place it on the tray."}
+{"task_index": 26, "task": "左手拿起十三香放到托盘里@Pick up the thirteen-spice with the left hand and place it on the tray."}
+{"task_index": 27, "task": "右手拿起牙签筒放到托盘里@Pick up the toothpick container with the right hand and place it on the tray."}
+{"task_index": 28, "task": "右手拿起502胶水放到托盘里@Pick up the 502 glue with the right hand and place it on the tray."}
+{"task_index": 29, "task": "右手拿起味精放到托盘里@Pick up the MSG with the right hand and place it on the tray."}
+{"task_index": 30, "task": "右手拿起白色胶带放到托盘里@Pick up the white tape with the right hand and place it in the tray."}
+{"task_index": 31, "task": "左手拿起豆干放到托盘里@Pick up the dried tofu with the left hand and place it on the tray."}
+{"task_index": 32, "task": "左手拿起棉签放到托盘里@Pick up the cotton swab with the left hand and place it in the tray."}
+{"task_index": 33, "task": "右手拿起火锅底料放到托盘里@Pick up the hot pot base with the right hand and place it on the tray."}
+{"task_index": 34, "task": "机器未动@Machine, do not move."}
+{"task_index": 35, "task": "左手拿起火腿肠放到托盘里@Pick up the sausage with the left hand and place it on the tray."}
+{"task_index": 36, "task": "右手拿起牙签筒放到托盘里@Pick up the toothpick container with your right hand and place it on the tray."}
+{"task_index": 37, "task": "右手拿起纯牛奶放到托盘里@Pick up the pure milk with the right hand and place it on the tray."}
+{"task_index": 38, "task": "左手拿起十三香放到托盘里@Pick up the thirteen-spice with your left hand and place it on the tray."}
+{"task_index": 39, "task": "右手拿起可拆卸插头放到托盘里@Pick up the detachable plug with the right hand and place it in the tray."}
+{"task_index": 40, "task": "左手拿起固体胶放到托盘里@Pick up the glue stick with the left hand and place it in the tray."}
+{"task_index": 41, "task": "右手拿起牙签筒放到托盘里@Pick up the toothpick holder with your right hand and place it on the tray."}
+{"task_index": 42, "task": "右手拿起牛奶放到托盘里@Pick up the milk with the right hand and place it on the tray."}
+{"task_index": 43, "task": "左手拿起燕尾夹放到托盘里@Pick up the binder clip with your left hand and place it on the tray."}
+{"task_index": 44, "task": "左手拿起可拆卸插头放到托盘里@Pick up the detachable plug with the left hand and place it in the tray."}
+{"task_index": 45, "task": "右手拿起芥末酱放到托盘里@Pick up the wasabi sauce with your right hand and place it on the tray."}
+{"task_index": 46, "task": "右手拿起刷子放到托盘里@Pick up the brush with the right hand and place it on the tray."}
+{"task_index": 47, "task": "右手拿起芥末酱放到托盘里@Pick up the wasabi sauce with the right hand and place it on the tray."}
+{"task_index": 48, "task": "左手拿起牛奶放到托盘里@Pick up the milk with the left hand and place it on the tray."}
+{"task_index": 49, "task": "左手拿起牙签筒放到托盘里@Pick up the toothpick container with your left hand and place it on the tray."}
+{"task_index": 50, "task": "左手拿起固体胶放到托盘里@Pick up the glue stick with the left hand and place it into the tray."}
+{"task_index": 51, "task": "左手拿起燕尾夹放到托盘里@Pick up the bulldog clip with your left hand and place it on the tray."}
+{"task_index": 52, "task": "左手拿起刷子放到托盘里@Pick up the brush with the left hand and place it on the tray."}
+{"task_index": 53, "task": "左手拿起牙签筒放到托盘里@Pick up the toothpick container with the left hand and place it on the tray."}
+{"task_index": 54, "task": "右手拿起湿巾放到托盘里@Pick up the wet wipe with your right hand and place it on the tray."}
+{"task_index": 55, "task": "右手拿起牛奶放到托盘里@Pick up the milk with your right hand and place it on the tray."}
diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/videos/chunk-000/observation.images.head_rgb/episode_000000.mp4 b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/videos/chunk-000/observation.images.head_rgb/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb1deb2ac888662748c7bbfd409fe44190435b65
--- /dev/null
+++ b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/videos/chunk-000/observation.images.head_rgb/episode_000000.mp4
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diff --git a/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/videos/chunk-000/observation.images.head_rgb/episode_000001.mp4 b/G0Plus_Finetune_LeRobot_Datasets_Demo/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018/videos/chunk-000/observation.images.head_rgb/episode_000001.mp4
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