analysis__er60k_events_probe.json

{
 "stem": "eval__fontaine_molmo2_er_60k_ddp4__step_060000__panel_curated_v0_k4l2_events",
 "miss_frames_total": 683,
 "probed": 683,
 "excluded_replay_oracle": 4,
 "still_none_after_ban": 0,
 "forced_guesses": 679,
 "class_match": 428,
 "class_match_rate": 0.6303387334315169,
 "results": [
  {
   "index": 4651,
   "repo_id": "0x00raghu/toffee_blue",
   "episode_index": 13,
   "frame_index": 546,
   "instruction": "toffee_blue",
   "gt_event": "arm idle at rest",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 10501,
   "repo_id": "0x00raghu/toffee_to_hand_1",
   "episode_index": 4,
   "frame_index": 422,
   "instruction": "toffee_to_hand",
   "gt_event": "toffee handed over to the human hand",
   "forced_event": "toffee released into the human hand",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 17936,
   "repo_id": "1lyz123576/so101_test",
   "episode_index": 120,
   "frame_index": 281,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm retracts without approaching or grasping any block",
   "forced_event": "arm returns to home pose with blocks untouched",
   "gt_class": "grasp_pickup",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 18369,
   "repo_id": "1lyz123576/so101_test",
   "episode_index": 129,
   "frame_index": 105,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm raised high above the blocks, no approach to any block",
   "forced_event": "arm swings upward, wrist camera points away from the blocks",
   "gt_class": "other",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 19363,
   "repo_id": "1lyz123576/so101_test-1",
   "episode_index": 5,
   "frame_index": 267,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released onto the table, no bin present",
   "forced_event": "cube released on the table, not in the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 19569,
   "repo_id": "1lyz123576/so101_test-1",
   "episode_index": 10,
   "frame_index": 152,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "gripper moves away from the cube without grasping it",
   "forced_event": "block occluded by the arm in the top view",
   "gt_class": "miss_fail",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 19721,
   "repo_id": "1lyz123576/so101_test-1",
   "episode_index": 10,
   "frame_index": 304,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm retreats to an upright pose with no block held",
   "forced_event": "arm retracts with blocks still in their original order",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 21896,
   "repo_id": "Aadhavan/so101_bio_final",
   "episode_index": 18,
   "frame_index": 49,
   "instruction": "pick up biomedical waster and put it in the respective bin.",
   "gt_event": "camera B frame very dark",
   "forced_event": "arm essentially stationary",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 23755,
   "repo_id": "AkibaGeek/so100_test",
   "episode_index": 14,
   "frame_index": 50,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm essentially idle, little motion since start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 26043,
   "repo_id": "AntoineA/so100_green_cube_black_circle",
   "episode_index": 5,
   "frame_index": 58,
   "instruction": "Grasp a green cube and put it in the black circle",
   "gt_event": "arm nearly stationary compared with the first frame (idle stretch)",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 27371,
   "repo_id": "AnttAI/record-test3",
   "episode_index": 18,
   "frame_index": 199,
   "instruction": "Pick the wooden block and put in the plate",
   "gt_event": "block occluded by the arm over the plate",
   "forced_event": "block occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 27816,
   "repo_id": "AnttAI/record-test3",
   "episode_index": 41,
   "frame_index": 196,
   "instruction": "Pick the wooden block and put in the plate",
   "gt_event": "gripper lifts away empty, no block grasped",
   "forced_event": "arm retracts with no block ever placed in the plate",
   "gt_class": "grasp_pickup",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 27913,
   "repo_id": "AnttAI/record-test3",
   "episode_index": 41,
   "frame_index": 293,
   "instruction": "Pick the wooden block and put in the plate",
   "gt_event": "gripper raises empty after failed grasp attempt",
   "forced_event": "gripper reaches the block but does not close on it",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 28657,
   "repo_id": "Anybalsmith/pickplacelegocube3",
   "episode_index": 6,
   "frame_index": 261,
   "instruction": "pickplacewhitellegocube",
   "gt_event": "cube released into the green cup",
   "forced_event": "cube released into the green cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 32506,
   "repo_id": "Ashton3/lerobot-aloha",
   "episode_index": 13,
   "frame_index": 305,
   "instruction": "Grab a bottle of soybeans and pour it into this cup.",
   "gt_event": "beans pouring into the cup",
   "forced_event": "motion blur in camera A",
   "gt_class": "release_place",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 39269,
   "repo_id": "Ayush-Sharan-1/config-4grid_topCam-T_frontCam-T_d-160525_v-1",
   "episode_index": 5,
   "frame_index": 844,
   "instruction": "Grasp a block and put it in the designated area.",
   "gt_event": "robot idle",
   "forced_event": "arm idle at home",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 44123,
   "repo_id": "Bartm3/dice2",
   "episode_index": 108,
   "frame_index": 157,
   "instruction": "Grasp a dice and put it in the bin.",
   "gt_event": "cube occluded by the descending gripper",
   "forced_event": "die occluded by the gripper",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 48068,
   "repo_id": "Bartm3/dice2",
   "episode_index": 189,
   "frame_index": 203,
   "instruction": "Grasp a dice and put it in the bin.",
   "gt_event": "dice occluded by gripper above the dish",
   "forced_event": "die occluded by the arm while being carried",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 48375,
   "repo_id": "Bartm3/dice2",
   "episode_index": 190,
   "frame_index": 153,
   "instruction": "Grasp a dice and put it in the bin.",
   "gt_event": "dice occluded by the gripper/arm",
   "forced_event": "motion blur from fast arm movement",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 48629,
   "repo_id": "Bartm3/dice4",
   "episode_index": 3,
   "frame_index": 49,
   "instruction": "Grasp a dice and put it in the bin.",
   "gt_event": "arm idle",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 54148,
   "repo_id": "Bartm3/dice4",
   "episode_index": 91,
   "frame_index": 744,
   "instruction": "Grasp a tape and put it in the bin.",
   "gt_event": "arm swings over the empty tray without having grasped the cube",
   "forced_event": "motion blur in wrist view",
   "gt_class": "grasp_pickup",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 71909,
   "repo_id": "BobBobbson/so100_test_FIRST_DATA",
   "episode_index": 14,
   "frame_index": 48,
   "instruction": "Pick up red ball and place in grey container",
   "gt_event": "arm essentially stationary (idle start)",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 75853,
   "repo_id": "CSCSXX/pick_place_cube_1.17",
   "episode_index": 30,
   "frame_index": 50,
   "instruction": "Pick up the red block and place it in the box.",
   "gt_event": "cube and gripper largely occluded by the arm/box",
   "forced_event": "arm partially occludes the cube in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 77146,
   "repo_id": "CSCSXX/pick_place_cube_1.18",
   "episode_index": 24,
   "frame_index": 198,
   "instruction": "Pick up the cube and place it in the box.",
   "gt_event": "cube occluded by the arm in camera A",
   "forced_event": "cube occluded by the arm in the side view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 79402,
   "repo_id": "Chojins/chess_game_000_white",
   "episode_index": 43,
   "frame_index": 152,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "motion blur in wrist view",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 79855,
   "repo_id": "Chojins/chess_game_000_white",
   "episode_index": 48,
   "frame_index": 249,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 87445,
   "repo_id": "Chojins/chess_game_001_blue_stereo",
   "episode_index": 150,
   "frame_index": 54,
   "instruction": "Move the blue chess pieces to the highlighted squares",
   "gt_event": "arm essentially stationary at start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 95555,
   "repo_id": "Chojins/chess_game_001_blue_stereo",
   "episode_index": 373,
   "frame_index": 201,
   "instruction": "Move the blue chess pieces to the highlighted squares",
   "gt_event": "heavy motion blur in wrist camera",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 101876,
   "repo_id": "Chojins/chess_game_001_blue_stereo",
   "episode_index": 463,
   "frame_index": 631,
   "instruction": "Move the blue chess pieces to the highlighted squares",
   "gt_event": "board layout appears unchanged versus frame 1",
   "forced_event": "arm retracts with no visible piece change",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 102949,
   "repo_id": "Chojins/chess_game_001_blue_stereo",
   "episode_index": 482,
   "frame_index": 111,
   "instruction": "Move the blue chess pieces to the highlighted squares",
   "gt_event": "strong motion blur on wrist camera",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 104726,
   "repo_id": "Chojins/chess_game_001_blue_stereo",
   "episode_index": 533,
   "frame_index": 197,
   "instruction": "Move the blue chess pieces to the highlighted squares",
   "gt_event": "grasp not clearly visible in either view",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "grasp_pickup",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 109988,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 29,
   "frame_index": 52,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "little to no change from previous frame (idle start)",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 110624,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 35,
   "frame_index": 326,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "board state appears unchanged from the first frame",
   "forced_event": "board layout looks unchanged from the start; outcome not verifiable",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 110914,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 37,
   "frame_index": 289,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "grasp not observable due to blur/occlusion",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 114030,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 114,
   "frame_index": 265,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "board state appears unchanged from the first frame",
   "forced_event": "arm idle at home pose",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 114296,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 117,
   "frame_index": 265,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "final board state looks nearly identical to the start; the move is not clearly verifiable",
   "forced_event": "board layout looks unchanged from the start; outcome not verifiable",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 115980,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 170,
   "frame_index": 290,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "fast retraction causes strong blur",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 118292,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 234,
   "frame_index": 53,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "arm essentially stationary (idle start)",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 118808,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 238,
   "frame_index": 197,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "wrist image blurred/overexposed close to board",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 119009,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 240,
   "frame_index": 53,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "arm still idle at start pose",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 119377,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 253,
   "frame_index": 51,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "arm essentially stationary at start pose",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 119580,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 253,
   "frame_index": 254,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "fast motion causes strong blur in both views",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 125284,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 387,
   "frame_index": 52,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "little to no visible motion between the first sampled frames",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 125388,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 387,
   "frame_index": 156,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "camera A heavily motion blurred / very close to board",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 127035,
   "repo_id": "Chojins/chess_game_001_red_stereo",
   "episode_index": 437,
   "frame_index": 447,
   "instruction": "Move the red chess pieces to the highlighted squares",
   "gt_event": "strong motion blur in wrist view during fast retract",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 136260,
   "repo_id": "Chojins/chess_game_002_white",
   "episode_index": 31,
   "frame_index": 98,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "motion blur in the wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 138839,
   "repo_id": "Chojins/chess_game_003_white",
   "episode_index": 49,
   "frame_index": 48,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "arm still idle at home pose",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 140234,
   "repo_id": "Chojins/chess_game_004_white",
   "episode_index": 17,
   "frame_index": 346,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "arm retracts without any piece having been moved",
   "forced_event": "arm retracts with no piece moved",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 140926,
   "repo_id": "Chojins/chess_game_004_white",
   "episode_index": 31,
   "frame_index": 96,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 143632,
   "repo_id": "Chojins/chess_game_005_white",
   "episode_index": 34,
   "frame_index": 342,
   "instruction": "Move the blue chess pieces as indicated by the highlighted squares",
   "gt_event": "motion blur in wrist view during retreat",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 155802,
   "repo_id": "Chojins/chess_game_009_white",
   "episode_index": 181,
   "frame_index": 54,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 158371,
   "repo_id": "Chojins/chess_game_009_white",
   "episode_index": 250,
   "frame_index": 220,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 158633,
   "repo_id": "Chojins/chess_game_009_white",
   "episode_index": 257,
   "frame_index": 151,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "wrist view almost entirely filled by the arm chassis",
   "forced_event": "arm occludes the target square in the overhead view",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 161990,
   "repo_id": "Chojins/chess_game_009_white",
   "episode_index": 331,
   "frame_index": 51,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "arm essentially idle at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 163513,
   "repo_id": "Cidoyi/so100_all_notes",
   "episode_index": 20,
   "frame_index": 114,
   "instruction": "Play LA",
   "gt_event": "key contact happens at the very edge of the frame, partially occluded",
   "forced_event": "arm repositions away from the keyboard",
   "gt_class": "occlusion",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 164139,
   "repo_id": "Cidoyi/so100_all_notes_1",
   "episode_index": 11,
   "frame_index": 171,
   "instruction": "Connect the cable to the device.",
   "gt_event": "gripper out of view behind frame edge",
   "forced_event": "no visible key-pressing action",
   "gt_class": "occlusion",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 164253,
   "repo_id": "Cidoyi/so100_all_notes_1",
   "episode_index": 11,
   "frame_index": 285,
   "instruction": "Connect the cable to the device.",
   "gt_event": "episode ends without any observable note being played",
   "forced_event": "no visible key-pressing action",
   "gt_class": "episode_marker",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 167644,
   "repo_id": "Clementppr/lerobot_pick_and_place_dataset_world_model",
   "episode_index": 8,
   "frame_index": 342,
   "instruction": "Grasp a fruit and put it in the cup.",
   "gt_event": "prolonged hovering over the fruit with little motion",
   "forced_event": "fruit occluded by the arm",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 168861,
   "repo_id": "CnLori/so101_piper",
   "episode_index": 8,
   "frame_index": 65,
   "instruction": "Place the tape on the same color areas",
   "gt_event": "arm nearly stationary (start idle)",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 177488,
   "repo_id": "Congying1112/so100_simplepick_with_2_cameras_from_top",
   "episode_index": 2,
   "frame_index": 498,
   "instruction": "Grasp the blue bottle onto the wooden plate.",
   "gt_event": "arm stationary, object held aloft",
   "forced_event": "arm holds the lifted flower, no placement observed",
   "gt_class": "idle",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 178286,
   "repo_id": "Congying1112/so100_switch_with_onhand_camera",
   "episode_index": 2,
   "frame_index": 98,
   "instruction": "Grasp the blue bottle onto the wooden plate.",
   "gt_event": "camera swings up, task object nearly out of frame",
   "forced_event": "arm partially occludes the bottle",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 178680,
   "repo_id": "Congying1112/so100_switch_with_onhand_camera",
   "episode_index": 2,
   "frame_index": 492,
   "instruction": "Grasp the blue bottle onto the wooden plate.",
   "gt_event": "camera points at monitor, workspace not framed",
   "forced_event": "arm withdraws, bottle left on the plate",
   "gt_class": "camera_view",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 179915,
   "repo_id": "Cornito/so101_chess17",
   "episode_index": 11,
   "frame_index": 521,
   "instruction": "Play chess",
   "gt_event": "no grasp attempted, pieces unchanged",
   "forced_event": "gripper hovers around the white pieces, no visible grasp",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 179963,
   "repo_id": "Cornito/so101_chess17",
   "episode_index": 11,
   "frame_index": 569,
   "instruction": "Play chess",
   "gt_event": "arm withdraws without moving any piece",
   "forced_event": "arm lifts away from the board, no piece moved",
   "gt_class": "other",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 184977,
   "repo_id": "Cornito/so101_chess17",
   "episode_index": 71,
   "frame_index": 517,
   "instruction": "Play chess",
   "gt_event": "arm retracts but board shows no clear piece displacement",
   "forced_event": "arm retracts without moving a piece",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 187102,
   "repo_id": "Cornito/so101_chess17",
   "episode_index": 122,
   "frame_index": 754,
   "instruction": "Play chess",
   "gt_event": "episode ends with no chess move performed",
   "forced_event": "arm retreats without moving a piece",
   "gt_class": "episode_marker",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 192424,
   "repo_id": "Cornito/so101_test3",
   "episode_index": 31,
   "frame_index": 52,
   "instruction": "Grasp a woden block and put it in the pot.",
   "gt_event": "little motion between the first sampled frames",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 193774,
   "repo_id": "Dangvi/so100_dataset",
   "episode_index": 4,
   "frame_index": 50,
   "instruction": "Pick up the 2x2 red block and go up the 8x8 blue block.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 195864,
   "repo_id": "Dangvi/soarm100_data",
   "episode_index": 10,
   "frame_index": 348,
   "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.",
   "gt_event": "arm appears nearly stationary (idle stretch)",
   "forced_event": "arm body occludes the plate in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 197755,
   "repo_id": "Dangvi/soarm100_data",
   "episode_index": 49,
   "frame_index": 447,
   "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.",
   "gt_event": "episode ends with gripper still closed on the block, no clear release",
   "forced_event": "arm appears stationary over the plate",
   "gt_class": "episode_marker",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 198153,
   "repo_id": "Dangvi/soarm100_data",
   "episode_index": 56,
   "frame_index": 397,
   "instruction": "Pick up the 2x2 yellow block and go up the 8x8 blue block.",
   "gt_event": "arm holds still, no further motion",
   "forced_event": "arm appears idle over the placed block",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 202125,
   "repo_id": "Dangvi/soarm100_data2",
   "episode_index": 40,
   "frame_index": 347,
   "instruction": "Pick up the 2x4 orange block and go up the 8x8 blue block.",
   "gt_event": "arm idle after placement",
   "forced_event": "arm idle over placed brick",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 204011,
   "repo_id": "DanqingZ/so100_test_pick_green_5",
   "episode_index": 3,
   "frame_index": 446,
   "instruction": "Grasp the green cube and put it in the bin.",
   "gt_event": "arm idle after task completion",
   "forced_event": "arm idle after task completion",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 205999,
   "repo_id": "DanqingZ/so100_test_pick_green_5",
   "episode_index": 31,
   "frame_index": 50,
   "instruction": "Grasp the green cube and put it in the bin.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 212503,
   "repo_id": "DimiSch/so100_50ep_3",
   "episode_index": 21,
   "frame_index": 594,
   "instruction": "Pick the yellow button from the table.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 214387,
   "repo_id": "Dongkkka/blue_pen_pick_and_place",
   "episode_index": 0,
   "frame_index": 98,
   "instruction": "Pick up the blue pen and put it in the green bowl",
   "gt_event": "wrist camera view almost fully occluded by dark arm/object",
   "forced_event": "pen occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 214831,
   "repo_id": "Dongkkka/blue_pen_pick_and_place2",
   "episode_index": 10,
   "frame_index": 51,
   "instruction": "Pick up the blue pen and put it in the green bowl",
   "gt_event": "grasp region occluded by the arm in the overhead view",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 220223,
   "repo_id": "Dongkkka/koch_arm_gripper_blue_pen_to_green_bowl",
   "episode_index": 9,
   "frame_index": 159,
   "instruction": "Pick up the blue pen. then put it in the green bowl",
   "gt_event": "camera B frame very dark/blurred",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 221518,
   "repo_id": "Dongkkka/koch_arm_gripper_coffee_stick_to_green_bowl",
   "episode_index": 14,
   "frame_index": 0,
   "instruction": "Pick up the yellow coffee stick. then put it in the green bowl",
   "gt_event": "stick initially sits inside the bowl (pre-reset state)",
   "forced_event": "stick released into the bowl",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 223217,
   "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset",
   "episode_index": 25,
   "frame_index": 49,
   "instruction": "Pick up the blue pen. then put it in the green bowl",
   "gt_event": "blue pen has been repositioned from the plate to the table between samples (scene reset)",
   "forced_event": "camera B heavily motion-blurred",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 223561,
   "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset",
   "episode_index": 39,
   "frame_index": 0,
   "instruction": "Pick up the red pen.",
   "gt_event": "episode starts with the pen already in the gripper",
   "forced_event": "arm essentially stationary",
   "gt_class": "episode_marker",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 223778,
   "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset",
   "episode_index": 39,
   "frame_index": 217,
   "instruction": "Pick up the red pen.",
   "gt_event": "wrist view almost fully occluded by the gripper/shadow",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 224456,
   "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset",
   "episode_index": 55,
   "frame_index": 216,
   "instruction": "Pick up the red pen.",
   "gt_event": "episode ends with the pen at the gripper but no visible lift",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "episode_marker",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 224812,
   "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset",
   "episode_index": 71,
   "frame_index": 355,
   "instruction": "Move the green bowl from right to left",
   "gt_event": "arm withdraws without any visible relocation of the bowl",
   "forced_event": "bowl released, arm retreats",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 225113,
   "repo_id": "Dongkkka/koch_arm_gripper_embodiment_dataset",
   "episode_index": 73,
   "frame_index": 249,
   "instruction": "Move the green bowl from right to left",
   "gt_event": "arm withdraws without having moved the bowl; scene back to initial configuration",
   "forced_event": "arm reaches the plate but no visible grasp",
   "gt_class": "other",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 225382,
   "repo_id": "Dongkkka/koch_arm_gripper_move_green_bowl",
   "episode_index": 4,
   "frame_index": 218,
   "instruction": "Move the green bowl from right to left",
   "gt_event": "bowl partially leaves camera A's field of view",
   "forced_event": "bowl released, arm repositioned",
   "gt_class": "camera_view",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 226420,
   "repo_id": "Dongkkka/koch_arm_gripper_pick_red_pen",
   "episode_index": 18,
   "frame_index": 103,
   "instruction": "Pick up the red pen.",
   "gt_event": "wrist camera nearly fully occluded by the pen/plate",
   "forced_event": "gripper aligns with the red pen",
   "gt_class": "occlusion",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 227297,
   "repo_id": "Dongkkka/red_pen_pick_and_place2",
   "episode_index": 10,
   "frame_index": 280,
   "instruction": "Pick up the red pen and put it in the green bowl",
   "gt_event": "camera A frame overexposed / blurred",
   "forced_event": "scene appears unchanged from the first frame",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 228207,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 28,
   "frame_index": 0,
   "instruction": "Put a black charging cable in a black bowl and put a red charging cable in a green bowl",
   "gt_event": "scene still in previous/reset arrangement with cables inside the bowls; camera A heavily motion-blurred",
   "forced_event": "camera B heavily motion-blurred",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 230007,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 62,
   "frame_index": 97,
   "instruction": "Put a black charging cable in a black bowl and put a red charging cable in a green bowl",
   "gt_event": "red cable moved off the green plate to the table",
   "forced_event": "camera B heavily motion-blurred",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 232553,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 105,
   "frame_index": 57,
   "instruction": "Pick up the blue pen and put it in the black bowl",
   "gt_event": "pen is being taken out of the bowl (away from goal state)",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 232834,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 117,
   "frame_index": 52,
   "instruction": "Pick up the red pen and put it in the black bowl",
   "gt_event": "scene setup changed: container repositioned and pen placed on the table",
   "forced_event": "camera B heavily motion-blurred",
   "gt_class": "release_place",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 232886,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 117,
   "frame_index": 104,
   "instruction": "Pick up the red pen and put it in the black bowl",
   "gt_event": "pen occluded by the arm in the overhead view",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 234836,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 146,
   "frame_index": 0,
   "instruction": "Pick up the yellow instant coffee stick. then put it in the black bowl",
   "gt_event": "scene layout differs from all later frames (bowl relocated, stick already in bowl) \u2014 likely reset/discontinuity",
   "forced_event": "stick released into the black bowl",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 235306,
   "repo_id": "Dongkkka/vla_total_dataset_test4",
   "episode_index": 162,
   "frame_index": 108,
   "instruction": "Pick up the yellow instant coffee stick. then put it in the black bowl",
   "gt_event": "scene layout differs from earlier frames: black bowl now on the left, stick beside the arm",
   "forced_event": "motion blur in wrist view",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 240430,
   "repo_id": "DorayakiLin/so100_pick_cube_in_box",
   "episode_index": 16,
   "frame_index": 290,
   "instruction": "Pick up the red cube and put it in the box.",
   "gt_event": "cube released over/into the box",
   "forced_event": "cube released into the box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 242312,
   "repo_id": "DorayakiLin/so100_stack_cube",
   "episode_index": 5,
   "frame_index": 626,
   "instruction": "Pick up the red cube and stack it on the yellow cube.",
   "gt_event": "arm idle at home after completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 259741,
   "repo_id": "FeiYjf/Grab_Pieces",
   "episode_index": 2,
   "frame_index": 305,
   "instruction": "places the black object on the table.",
   "gt_event": "little to no motion between samples",
   "forced_event": "gripper closes at the rack edge, no piece is clearly grasped",
   "gt_class": "idle",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 260186,
   "repo_id": "FeiYjf/Grab_Pieces",
   "episode_index": 17,
   "frame_index": 190,
   "instruction": "places the black object on the table.",
   "gt_event": "no visible motion",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 261120,
   "repo_id": "FeiYjf/Grab_Pieces",
   "episode_index": 30,
   "frame_index": 361,
   "instruction": "places the black object on the table.",
   "gt_event": "gripper retracts with no piece clearly held; block only nudged",
   "forced_event": "piece lifted clear of the fixture",
   "gt_class": "other",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 263371,
   "repo_id": "FeiYjf/Grab_Pieces",
   "episode_index": 69,
   "frame_index": 281,
   "instruction": "places the black object on the table.",
   "gt_event": "little visible change, gripper dwelling over the piece",
   "forced_event": "gripper closes on the piece",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 269102,
   "repo_id": "FeiYjf/Maklu_dataset",
   "episode_index": 12,
   "frame_index": 48,
   "instruction": "Pick up the blue cube and place it on the paper.",
   "gt_event": "arm idle, no motion yet",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 273207,
   "repo_id": "FeiYjf/Test_NNNN",
   "episode_index": 8,
   "frame_index": 157,
   "instruction": "Pick up the purple cube and move it to the right.",
   "gt_event": "episode ends with gripper open around the cube, no grasp performed",
   "forced_event": "human hand enters frame near the arm",
   "gt_class": "episode_marker",
   "forced_class": "human",
   "class_match": false
  },
  {
   "index": 273414,
   "repo_id": "FeiYjf/Test_NNNN",
   "episode_index": 13,
   "frame_index": 206,
   "instruction": "Pick up the purple cube and move it to the right.",
   "gt_event": "episode ends with gripper still open next to the cube",
   "forced_event": "gripper reaches the cube but never closes",
   "gt_class": "episode_marker",
   "forced_class": "miss_fail",
   "class_match": false
  },
  {
   "index": 275258,
   "repo_id": "FeiYjf/new_Dataset",
   "episode_index": 16,
   "frame_index": 478,
   "instruction": "Pick up the blue cube.",
   "gt_event": "cube released inside the tape ring",
   "forced_event": "arm idle",
   "gt_class": "release_place",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 281197,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 97,
   "frame_index": 102,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "human hand visible at top of camera B (teleoperation)",
   "forced_event": "arm essentially stationary",
   "gt_class": "human",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 282161,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 149,
   "frame_index": 259,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "episode ends with scene unchanged; no object was moved",
   "forced_event": "no motion between the first sampled frames",
   "gt_class": "episode_marker",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 282262,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 166,
   "frame_index": 100,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "gripper hovers over the workspace without closing; green cube occluded in camera B",
   "forced_event": "arm extends over the paper but does not close the gripper on the cube",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 282652,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 172,
   "frame_index": 240,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "scene unchanged from start; no object was moved",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 283707,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 220,
   "frame_index": 115,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "gripper hovers over green cube without closing",
   "forced_event": "gripper reaches the green cube but never closes",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 285044,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 255,
   "frame_index": 342,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "episode ends with cubes essentially unchanged",
   "forced_event": "arm returns to home with cubes untouched",
   "gt_class": "episode_marker",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 285525,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 270,
   "frame_index": 151,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "gripper stays open beside the green cube, no grasp attempted",
   "forced_event": "arm sweeps along the blue line, cubes remain in their original positions",
   "gt_class": "miss_fail",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 287749,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 358,
   "frame_index": 49,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "robot idle, no motion since start",
   "forced_event": "arm returns to home pose with cubes unchanged",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 288093,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 358,
   "frame_index": 393,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "scene unchanged from start; cubes never moved",
   "forced_event": "arm returns home with cubes unchanged",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 288246,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 361,
   "frame_index": 152,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "arm occludes the cubes in camera B",
   "forced_event": "gripper reaches the green cube but never closes",
   "gt_class": "occlusion",
   "forced_class": "miss_fail",
   "class_match": false
  },
  {
   "index": 289157,
   "repo_id": "FeiYjf/new_GtoR",
   "episode_index": 374,
   "frame_index": 303,
   "instruction": "Move along the line on the paper from start to end.",
   "gt_event": "episode ends with scene identical to start",
   "forced_event": "arm returns to home pose with cubes untouched",
   "gt_class": "episode_marker",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 292588,
   "repo_id": "Gano007/so100_doliprane",
   "episode_index": 38,
   "frame_index": 102,
   "instruction": "Grasp a medic box and put it in the bin.",
   "gt_event": "wrist view points away from the box (blurred, shows shoe box in background)",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 292691,
   "repo_id": "Gano007/so100_doliprane",
   "episode_index": 38,
   "frame_index": 205,
   "instruction": "Grasp a medic box and put it in the bin.",
   "gt_event": "strong motion blur in both views",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 295287,
   "repo_id": "Gano007/so100_gano",
   "episode_index": 48,
   "frame_index": 50,
   "instruction": "Grasp a box and put it in the bin.",
   "gt_event": "little or no visible motion",
   "forced_event": "arm retracts with the box still on the cloth",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 298167,
   "repo_id": "Gano007/so100_medic",
   "episode_index": 43,
   "frame_index": 358,
   "instruction": "Grasp a medic box and put it in the bin.",
   "gt_event": "box resting inside the blue bin; camera A still shows the box on the table (stale feed)",
   "forced_event": "box released into the bin",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 298475,
   "repo_id": "Gano007/so100_medic",
   "episode_index": 46,
   "frame_index": 307,
   "instruction": "Grasp a medic box and put it in the bin.",
   "gt_event": "box released into the blue bin",
   "forced_event": "box released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 300571,
   "repo_id": "Gano007/so100_second",
   "episode_index": 41,
   "frame_index": 249,
   "instruction": "Grasp a yellow box and put it in the bin.",
   "gt_event": "box occluded by gripper in camera B",
   "forced_event": "motion blur in wrist view",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 302945,
   "repo_id": "HITHY/so100_peach1",
   "episode_index": 13,
   "frame_index": 48,
   "instruction": "teleoperation",
   "gt_event": "robot idle at start pose",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 306323,
   "repo_id": "HITHY/so100_peach3",
   "episode_index": 89,
   "frame_index": 101,
   "instruction": "Grasp a peach and put it in the bin.",
   "gt_event": "peach mostly occluded by the gripper",
   "forced_event": "arm occludes the peach from the camera",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 313331,
   "repo_id": "HITHY/so100_peach4",
   "episode_index": 283,
   "frame_index": 123,
   "instruction": "Grasp a peach and put it on the plate.",
   "gt_event": "peach occluded by the gripper body",
   "forced_event": "arm occludes the peach from the camera",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 314740,
   "repo_id": "HITHY/so100_peach4",
   "episode_index": 355,
   "frame_index": 86,
   "instruction": "Grasp a peach and put it on the plate.",
   "gt_event": "arm partly occludes the plate from the overhead view",
   "forced_event": "motion blur from fast arm movement",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 315540,
   "repo_id": "HITHY/so100_peach4",
   "episode_index": 371,
   "frame_index": 102,
   "instruction": "Grasp a peach and put it on the plate.",
   "gt_event": "peach mostly occluded by the arm",
   "forced_event": "motion blur from fast arm movement",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 328440,
   "repo_id": "Hale-Sage/Grab_cube_task",
   "episode_index": 79,
   "frame_index": 637,
   "instruction": "Grab the cube",
   "gt_event": "arm idle after completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 338464,
   "repo_id": "Hale-Sage/merge_data",
   "episode_index": 159,
   "frame_index": 519,
   "instruction": "Put the red cube on top of the blue cube",
   "gt_event": "arm idle after completion",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 342928,
   "repo_id": "Hale-Sage/merge_data",
   "episode_index": 377,
   "frame_index": 164,
   "instruction": "Grab the cube",
   "gt_event": "cube released inside the tray",
   "forced_event": "cube released into the tray",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 364255,
   "repo_id": "Haribot099/so101_60",
   "episode_index": 5,
   "frame_index": 50,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm essentially idle",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 364812,
   "repo_id": "Haribot099/so101_60",
   "episode_index": 7,
   "frame_index": 51,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm still nearly stationary at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 368970,
   "repo_id": "Ityl/so100_recording2",
   "episode_index": 14,
   "frame_index": 162,
   "instruction": "Pick up the red cube and place it on top of the blue cube.",
   "gt_event": "red block occluded by gripper/blue block in both views",
   "forced_event": "red block occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 370712,
   "repo_id": "Jeevesh2009/so101_gray_block_midvar_test",
   "episode_index": 15,
   "frame_index": 299,
   "instruction": "Pick the gray block and keep it in the box.",
   "gt_event": "block occluded by arm/box",
   "forced_event": "block occluded by the arm while being carried",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 372254,
   "repo_id": "Jeevesh2009/so101_gray_block_midvar_test",
   "episode_index": 76,
   "frame_index": 158,
   "instruction": "Pick the gray block and keep it in the box.",
   "gt_event": "block occluded by gripper/arm",
   "forced_event": "block occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 374476,
   "repo_id": "Jeevesh2009/so101_gray_block_pickup_test",
   "episode_index": 18,
   "frame_index": 169,
   "instruction": "Pick the gray block and keep it in the box.",
   "gt_event": "block released over the box; interior not directly visible",
   "forced_event": "block released inside the box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 375079,
   "repo_id": "Jeevesh2009/so101_gray_block_pickup_test",
   "episode_index": 69,
   "frame_index": 100,
   "instruction": "Pick the gray block and keep it in the box.",
   "gt_event": "block occluded by the arm while the gripper descends onto it",
   "forced_event": "block occluded by the arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 378420,
   "repo_id": "Jeevesh2009/so101_new_test",
   "episode_index": 51,
   "frame_index": 349,
   "instruction": "Grasp the gray block and put it in the box.",
   "gt_event": "block occluded by gripper/arm",
   "forced_event": "block occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 384803,
   "repo_id": "Jiangeng/so100_413",
   "episode_index": 24,
   "frame_index": 305,
   "instruction": "Pick up the cube and place it on top of the black circle.",
   "gt_event": "cube released back onto the paper",
   "forced_event": "cube released on the paper",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 384905,
   "repo_id": "Jiangeng/so100_413",
   "episode_index": 24,
   "frame_index": 407,
   "instruction": "Pick up the cube and place it on top of the black circle.",
   "gt_event": "gripper re-approaches the cube at episode end",
   "forced_event": "arm retracts with the cube still on the paper",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 391663,
   "repo_id": "Jinheng0130/Lay",
   "episode_index": 22,
   "frame_index": 164,
   "instruction": "Grasp the cup and put it on the right side of the table.",
   "gt_event": "cup leaves the top camera's field of view",
   "forced_event": "arm body occludes the cup in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 392381,
   "repo_id": "Jinheng0130/Lay",
   "episode_index": 45,
   "frame_index": 247,
   "instruction": "Grasp the cup and put it on the right side of the table.",
   "gt_event": "gripper repositions slightly around the cup before release",
   "forced_event": "arm body occludes the cup in camera A",
   "gt_class": "release_place",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 392893,
   "repo_id": "Jinheng0130/Push",
   "episode_index": 18,
   "frame_index": 24,
   "instruction": "Push the valve with the cup.",
   "gt_event": "little to no visible motion since previous sample",
   "forced_event": "arm retracts to start with the cup still in the valve",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 393475,
   "repo_id": "JipJ/dice_project",
   "episode_index": 28,
   "frame_index": 110,
   "instruction": "Grab the blue dice",
   "gt_event": "die occluded by the arm as it descends",
   "forced_event": "die occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 394330,
   "repo_id": "JipJ/dice_project",
   "episode_index": 36,
   "frame_index": 334,
   "instruction": "Grab the blue dice",
   "gt_event": "gripper back at rest with no die visible; grasp outcome not verifiable",
   "forced_event": "arm retracts with none",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 409484,
   "repo_id": "LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole",
   "episode_index": 41,
   "frame_index": 140,
   "instruction": "Grab the blue cylinder",
   "gt_event": "cylinder nudged/tipped during approach",
   "forced_event": "cylinder occluded by the arm in the overhead view",
   "gt_class": "contact_collision",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 409625,
   "repo_id": "LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole",
   "episode_index": 41,
   "frame_index": 281,
   "instruction": "Grab the blue cylinder",
   "gt_event": "re-approach after unsuccessful grasp attempt",
   "forced_event": "cylinder nudged off the gripper, gripper repositioned",
   "gt_class": "miss_fail",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 413372,
   "repo_id": "LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole",
   "episode_index": 84,
   "frame_index": 47,
   "instruction": "Grab the red cube",
   "gt_event": "arm essentially stationary",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 421556,
   "repo_id": "LeRobot-worldwide-hackathon/160-LegoBot-lego_pixelart_stage_1_v1",
   "episode_index": 48,
   "frame_index": 276,
   "instruction": "Grab the block and put it in the grey marker",
   "gt_event": "human hand appears near the brick rows on the left",
   "forced_event": "human hand enters the workspace near the top row",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 422983,
   "repo_id": "LeRobot-worldwide-hackathon/160-LegoBot-lego_pixelart_stage_1_v2",
   "episode_index": 32,
   "frame_index": 210,
   "instruction": "Grab the block and put it in the grey marker",
   "gt_event": "arm body occludes the grasped block in both views",
   "forced_event": "block occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 438014,
   "repo_id": "LeRobot-worldwide-hackathon/190-RecycloBots-recyclobots",
   "episode_index": 37,
   "frame_index": 132,
   "instruction": "Sort rubbish by color.",
   "gt_event": "robot still idle",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 440400,
   "repo_id": "LeRobot-worldwide-hackathon/190-RecycloBots-recyclobots",
   "episode_index": 42,
   "frame_index": 1266,
   "instruction": "Sort rubbish by color.",
   "gt_event": "second item released into a cup",
   "forced_event": "green item released into a cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 469231,
   "repo_id": "LeRobot-worldwide-hackathon/300-Mad_Robots-remove_orange_object",
   "episode_index": 0,
   "frame_index": 99,
   "instruction": "Remove orange objects from table",
   "gt_event": "motion blur in wrist view during fast descent",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 470528,
   "repo_id": "LeRobot-worldwide-hackathon/300-Mad_Robots-remove_orange_object",
   "episode_index": 46,
   "frame_index": 199,
   "instruction": "Remove orange objects from table",
   "gt_event": "object nearly fills wrist camera, occluding the view",
   "forced_event": "object occluded by arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 471205,
   "repo_id": "LeRobot-worldwide-hackathon/347-WaterworksCrew-HandymanBot",
   "episode_index": 7,
   "frame_index": 262,
   "instruction": "Pick up the bolt and place it in the pink box",
   "gt_event": "arm body largely occludes the top view",
   "forced_event": "arm occludes the box in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 475218,
   "repo_id": "LeRobot-worldwide-hackathon/364-ET_HOME_SERVICE-grab_can_sat",
   "episode_index": 16,
   "frame_index": 50,
   "instruction": "Pick up the can.",
   "gt_event": "arm essentially stationary, delayed start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 486480,
   "repo_id": "LeRobot-worldwide-hackathon/91-AM-PM-pouring-liquid",
   "episode_index": 55,
   "frame_index": 251,
   "instruction": "Pick up a kettle and pour liquid into a cup.",
   "gt_event": "a few drops spilled on the mat",
   "forced_event": "kettle released back onto the mat",
   "gt_class": "drop_slip",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 491700,
   "repo_id": "Loki0929/so100_100",
   "episode_index": 29,
   "frame_index": 48,
   "instruction": "Grasp a rubber duck and put it in the box.",
   "gt_event": "arm essentially idle at start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 493156,
   "repo_id": "Loki0929/so100_100",
   "episode_index": 65,
   "frame_index": 53,
   "instruction": "Grasp a rubber duck and put it in the box.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 495893,
   "repo_id": "Mazytomo/so101_test",
   "episode_index": 0,
   "frame_index": 348,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released into the bowl",
   "forced_event": "block released into the bowl",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 498639,
   "repo_id": "Mohamedal/put_banana_bowl_dis",
   "episode_index": 3,
   "frame_index": 94,
   "instruction": "put banana in the red bowl.",
   "gt_event": "arm still idle",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 501490,
   "repo_id": "Mohamedal/put_banana_bowl_dis_test2",
   "episode_index": 8,
   "frame_index": 119,
   "instruction": "put the banana in the red bowl .",
   "gt_event": "motion blur from fast transfer motion",
   "forced_event": "motion blur in camera A",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 509565,
   "repo_id": "Mohamedal/put_lemon_bowl_data",
   "episode_index": 11,
   "frame_index": 289,
   "instruction": "put the lemon  in the red bowl.",
   "gt_event": "grasp occurs off-frame at the left edge of both views",
   "forced_event": "arm partially out of camera A view",
   "gt_class": "grasp_pickup",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 527907,
   "repo_id": "Mwuqiu/so100_0408",
   "episode_index": 15,
   "frame_index": 52,
   "instruction": "Grasp a yellow duck and put it in the box.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 538018,
   "repo_id": "NONHUMAN-RESEARCH/SOARM100_TASK_VENDA",
   "episode_index": 116,
   "frame_index": 51,
   "instruction": "Pick up the object and place it in the box.",
   "gt_event": "arm still idle at start pose",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 543030,
   "repo_id": "Ninkofu/sushi_put",
   "episode_index": 47,
   "frame_index": 277,
   "instruction": "Pick up the sushi from the blue dish and put it on the Sinkansen",
   "gt_event": "wrist camera pointed away from the workspace, motion blur",
   "forced_event": "wrist view almost fully occluded by the train",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 543236,
   "repo_id": "Ninkofu/sushi_put",
   "episode_index": 50,
   "frame_index": 150,
   "instruction": "Pick up the sushi from the blue dish and put it on the Sinkansen",
   "gt_event": "camera B heavily motion-blurred",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 543721,
   "repo_id": "Ninkofu/sushi_put",
   "episode_index": 76,
   "frame_index": 54,
   "instruction": "Pick up the sushi from the blue dish and put it on the Sinkansen",
   "gt_event": "strong motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 544647,
   "repo_id": "Odog16/so100_cube_drop_pick_v1",
   "episode_index": 0,
   "frame_index": 47,
   "instruction": "Pick up the orange cube, release it, and then pick it up again.",
   "gt_event": "cube released / no longer in the jaws",
   "forced_event": "cube released onto the mat",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 544882,
   "repo_id": "Odog16/so100_cube_drop_pick_v1",
   "episode_index": 3,
   "frame_index": 93,
   "instruction": "Pick up the orange cube, release it, and then pick it up again.",
   "gt_event": "cube released onto mat (intended drop)",
   "forced_event": "cube released onto the mat",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 545606,
   "repo_id": "Odog16/so100_cube_stacking_v1",
   "episode_index": 2,
   "frame_index": 50,
   "instruction": "Stack the cubes in the following order from bottom to top: black, blue, then orange.",
   "gt_event": "arm essentially idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 560437,
   "repo_id": "Pi-robot/barbecue_flip",
   "episode_index": 18,
   "frame_index": 149,
   "instruction": "Pick up the orange cone and place it on the table.",
   "gt_event": "arm occludes the skewers in camera A",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 560735,
   "repo_id": "Pi-robot/barbecue_flip",
   "episode_index": 18,
   "frame_index": 447,
   "instruction": "Pick up the orange cone and place it on the table.",
   "gt_event": "robot idle at home pose",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 561631,
   "repo_id": "Pi-robot/barbecue_flip",
   "episode_index": 25,
   "frame_index": 447,
   "instruction": "Pick up the orange cone and place it on the table.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 568893,
   "repo_id": "ROI-su7/koch_test01",
   "episode_index": 10,
   "frame_index": 96,
   "instruction": "Pick the red block.",
   "gt_event": "arm idle",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 570498,
   "repo_id": "ROI-su7/koch_test01",
   "episode_index": 36,
   "frame_index": 374,
   "instruction": "Pick the red block.",
   "gt_event": "heavy motion blur during fast arm move",
   "forced_event": "arm re-approaches with the object still on the mat",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 570731,
   "repo_id": "ROI-su7/koch_test01",
   "episode_index": 36,
   "frame_index": 607,
   "instruction": "Pick the red block.",
   "gt_event": "episode ends with object back on the table, gripper empty",
   "forced_event": "arm idle",
   "gt_class": "episode_marker",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 570783,
   "repo_id": "ROI-su7/koch_test01",
   "episode_index": 41,
   "frame_index": 51,
   "instruction": "Pick the red block.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 571292,
   "repo_id": "RasmusP/so100_Orange2Green",
   "episode_index": 1,
   "frame_index": 50,
   "instruction": "Grasp the orange block and drop it in the box.",
   "gt_event": "arm essentially stationary at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 572282,
   "repo_id": "RasmusP/so100_Orange2Green",
   "episode_index": 24,
   "frame_index": 445,
   "instruction": "Grasp the orange block and drop it in the box.",
   "gt_event": "block released into the box",
   "forced_event": "block released into the box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 586518,
   "repo_id": "Ryosei2/0704_donut3",
   "episode_index": 7,
   "frame_index": 262,
   "instruction": "Pick up Objects on the grey area and place it on the white dish.",
   "gt_event": "camera A frame is entirely black",
   "forced_event": "arm withdraws from the dish",
   "gt_class": "camera_view",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 590583,
   "repo_id": "SeanLMH/so100_picknplace",
   "episode_index": 82,
   "frame_index": 254,
   "instruction": "Pick up the blue block and place it in the yellow box.",
   "gt_event": "camera A framing appears shifted relative to earlier frames",
   "forced_event": "arm and cubes partly occluded at top edge",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 590786,
   "repo_id": "SeanLMH/so100_picknplace",
   "episode_index": 85,
   "frame_index": 49,
   "instruction": "Pick up the blue block and place it in the yellow box.",
   "gt_event": "little to no motion between frames 1 and 50",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 592072,
   "repo_id": "SeanLMH/so100_picknplace",
   "episode_index": 99,
   "frame_index": 157,
   "instruction": "Pick up the blue block and place it in the yellow box.",
   "gt_event": "cube hidden behind arm in camera A",
   "forced_event": "block occluded by the arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 600718,
   "repo_id": "T1g3rGE/so100_pickplace_small_20250407_171912",
   "episode_index": 8,
   "frame_index": 283,
   "instruction": "Grasp items from right and place in black tray on the left",
   "gt_event": "severe motion blur",
   "forced_event": "heavy motion blur",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 601190,
   "repo_id": "T1g3rGE/so100_pickplace_small_20250407_171912",
   "episode_index": 8,
   "frame_index": 755,
   "instruction": "Grasp items from right and place in black tray on the left",
   "gt_event": "severe motion blur",
   "forced_event": "heavy motion blur, none",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 604765,
   "repo_id": "ThomasGossard/grab_box_h3",
   "episode_index": 3,
   "frame_index": 100,
   "instruction": "Grab the white handle of the orange box",
   "gt_event": "motion blur in camera B",
   "forced_event": "gripper contacts the handle",
   "gt_class": "blur",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 604814,
   "repo_id": "ThomasGossard/grab_box_h3",
   "episode_index": 3,
   "frame_index": 149,
   "instruction": "Grab the white handle of the orange box",
   "gt_event": "heavy motion blur / overexposure in camera B",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 620702,
   "repo_id": "Vertax/act_koch_pick_place_rgb_lego",
   "episode_index": 98,
   "frame_index": 656,
   "instruction": "Grasp RGB lego blocks and put them in the bin one by one.",
   "gt_event": "green block released into bin",
   "forced_event": "green block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 638739,
   "repo_id": "Waykzen/raju2",
   "episode_index": 23,
   "frame_index": 564,
   "instruction": "Move the piece to destination",
   "gt_event": "piece appears released on the board",
   "forced_event": "arm retracts out of the camera view",
   "gt_class": "release_place",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 640293,
   "repo_id": "Waykzen/raju2",
   "episode_index": 33,
   "frame_index": 329,
   "instruction": "Move the piece to destination",
   "gt_event": "gripper closes over the marked source square",
   "forced_event": "arm passes close to camera A, occluding much of the board",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 648761,
   "repo_id": "XXRRSSRR/so100_v3_num_episodes_50",
   "episode_index": 6,
   "frame_index": 433,
   "instruction": "Grasp a box and put it in the side.",
   "gt_event": "scene idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 649387,
   "repo_id": "XXRRSSRR/so100_v3_num_episodes_50",
   "episode_index": 22,
   "frame_index": 481,
   "instruction": "Grasp a box and put it in the side.",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 649966,
   "repo_id": "XXRRSSRR/so100_v3_num_episodes_50",
   "episode_index": 31,
   "frame_index": 482,
   "instruction": "Grasp a box and put it in the side.",
   "gt_event": "arm idle at rest",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 651171,
   "repo_id": "XXRRSSRR/so100_v3_num_episodes_50",
   "episode_index": 39,
   "frame_index": 529,
   "instruction": "Grasp a box and put it in the side.",
   "gt_event": "human hand enters frame at right edge (teleoperator)",
   "forced_event": "box released on the table, arm retracted",
   "gt_class": "human",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 652357,
   "repo_id": "Yanis7777/so100_duck",
   "episode_index": 16,
   "frame_index": 103,
   "instruction": "Grasp a duck and put it on the black surface.",
   "gt_event": "arm body occludes much of camera A's workspace view",
   "forced_event": "duck occluded by arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 653007,
   "repo_id": "ZCM5115/so100_1210",
   "episode_index": 0,
   "frame_index": 106,
   "instruction": "picks up the USB cable.",
   "gt_event": "wrist camera swings away from the workspace toward the laptop/desk",
   "forced_event": "wrist camera swings up toward the keyboard, workspace out of view",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 653488,
   "repo_id": "ZCM5115/so100_1210",
   "episode_index": 31,
   "frame_index": 53,
   "instruction": "picks up the USB cable.",
   "gt_event": "fast arm motion causes heavy motion blur",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 659268,
   "repo_id": "aaronsu11/so100_lego",
   "episode_index": 21,
   "frame_index": 549,
   "instruction": "Grasp a lego block and put it on the plate.",
   "gt_event": "arm idle at home pose after task completion",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 665737,
   "repo_id": "abokinala/sputnik_100_14_pick_place_container",
   "episode_index": 1,
   "frame_index": 51,
   "instruction": "Place blue marker in the center of the table into mug with cap down.",
   "gt_event": "arm essentially stationary",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 667576,
   "repo_id": "abokinala/sputnik_100_46_custom_tasks",
   "episode_index": 18,
   "frame_index": 150,
   "instruction": "pick up sideways cup and place it upside down",
   "gt_event": "motion blur in camera A during fast lift",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 671951,
   "repo_id": "acrampette/third_arm_01",
   "episode_index": 8,
   "frame_index": 660,
   "instruction": "Pick up the circuit board from the table.",
   "gt_event": "arm idle",
   "forced_event": "idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 672666,
   "repo_id": "acrampette/third_arm_01",
   "episode_index": 28,
   "frame_index": 329,
   "instruction": "Pick up the circuit board from the table.",
   "gt_event": "object released back into the human hand",
   "forced_event": "human hand presents the tape roll in the open hand",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 676214,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 23,
   "frame_index": 149,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "tool positioned between the jaws, grasp state ambiguous",
   "forced_event": "arm and object largely occluded by the hand",
   "gt_class": "grasp_pickup",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 676662,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 35,
   "frame_index": 298,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "gripper appears to release; tool stays with the human hand as the arm pulls back; heavy motion blur",
   "forced_event": "tool released into the open gripper",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 676812,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 39,
   "frame_index": 149,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "strong motion blur from fast camera/arm swing",
   "forced_event": "tool released back to the hand, gripper no longer holding it",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 677610,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 63,
   "frame_index": 50,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "human hand presents the screwdriver to the gripper",
   "forced_event": "human hand presents the screwdriver",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 677858,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 63,
   "frame_index": 298,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "screwdriver no longer in the gripper; hand withdraws the object as the arm returns to rest",
   "forced_event": "arm idle",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 678008,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 68,
   "frame_index": 149,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "human presents a screwdriver in the field of view",
   "forced_event": "arm essentially stationary, idle start",
   "gt_class": "human",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 678257,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 89,
   "frame_index": 99,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "human hand presents a screwdriver",
   "forced_event": "human hand presents the screwdriver",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 678755,
   "repo_id": "acrampette/third_arm_02",
   "episode_index": 90,
   "frame_index": 298,
   "instruction": "Pick up the tie and place it in the box.",
   "gt_event": "jaws appear to open again around the screwdriver, grasp not clearly secured at episode end",
   "forced_event": "human hand still supports the screwdriver",
   "gt_class": "grasp_pickup",
   "forced_class": "human",
   "class_match": false
  },
  {
   "index": 681703,
   "repo_id": "ad330/so100_box_pickPlace",
   "episode_index": 14,
   "frame_index": 249,
   "instruction": "places jar in box.",
   "gt_event": "jar knocked over and lying on its side inside the box",
   "forced_event": "jar occluded by the arm in the top view",
   "gt_class": "contact_collision",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 685356,
   "repo_id": "ahork/record-test-02",
   "episode_index": 4,
   "frame_index": 849,
   "instruction": "use spoon to take food",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 686990,
   "repo_id": "aidinism/arm-record-14",
   "episode_index": 5,
   "frame_index": 390,
   "instruction": "Grab the Blue cube",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 687334,
   "repo_id": "aidinism/arm-record-47",
   "episode_index": 4,
   "frame_index": 246,
   "instruction": "Grab the Blue cube",
   "gt_event": "cube appears released near the bottom-left of the workspace",
   "forced_event": "arm idle at home pose",
   "gt_class": "release_place",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 691308,
   "repo_id": "aimihat/so100_tape",
   "episode_index": 20,
   "frame_index": 199,
   "instruction": "Pick up the tape and put it in the bowl.",
   "gt_event": "tape released into the pot, no longer on the table",
   "forced_event": "tape released into the pot",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 693500,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 24,
   "frame_index": 298,
   "instruction": "Pick up the cube and place it in the box.",
   "gt_event": "camera B frame is blurred",
   "forced_event": "arm idle at rest",
   "gt_class": "blur",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 694547,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 54,
   "frame_index": 149,
   "instruction": "Remove the cube from the box.",
   "gt_event": "slight motion blur from fast transfer",
   "forced_event": "motion blur in camera B",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 694896,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 60,
   "frame_index": 199,
   "instruction": "Pick up the cube and place it in the box.",
   "gt_event": "motion blur from fast retraction",
   "forced_event": "cube released into the tray",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 697093,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 105,
   "frame_index": 299,
   "instruction": "Pick up the pen and put it in the pen holder.",
   "gt_event": "episode ends with the pen still in the gripper, holder empty",
   "forced_event": "pen lifted and held above the workspace",
   "gt_class": "episode_marker",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 697693,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 115,
   "frame_index": 299,
   "instruction": "Pick up the pen and put it in the pen holder.",
   "gt_event": "pen released outside the holder and ends up lying on the table",
   "forced_event": "motion blur in camera B",
   "gt_class": "release_place",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 699044,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 175,
   "frame_index": 150,
   "instruction": "Pick up the pen and put it in the pen holder.",
   "gt_event": "pen positioned inside the holder; camera B frame heavily blurred",
   "forced_event": "pen released into the holder",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 701493,
   "repo_id": "akira-sasaki/akabeko_instruct_v1",
   "episode_index": 263,
   "frame_index": 199,
   "instruction": "Pick up the yellow tape and place it in the box.",
   "gt_event": "motion blur in camera B",
   "forced_event": "tape released on the purple tray instead of inside the white box",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 706144,
   "repo_id": "akira-sasaki/akabeko_instruct_v2",
   "episode_index": 168,
   "frame_index": 50,
   "instruction": "Remove the cube from the box.",
   "gt_event": "no motion yet, arm idle",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 717248,
   "repo_id": "akira-sasaki/smolvla_base",
   "episode_index": 18,
   "frame_index": 199,
   "instruction": "Grasp a red block and put it in the left red dish.",
   "gt_event": "arm briefly leaves camera B field of view",
   "forced_event": "block released into the red dish",
   "gt_class": "camera_view",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 719241,
   "repo_id": "akira-sasaki/smolvla_base",
   "episode_index": 84,
   "frame_index": 99,
   "instruction": "Grasp a red block and put it in the left red dish.",
   "gt_event": "slight motion blur in camera A",
   "forced_event": "gripper closes on the tape roll",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 721015,
   "repo_id": "ameimei/record-test",
   "episode_index": 29,
   "frame_index": 216,
   "instruction": "Grab the black cube to the white zone",
   "gt_event": "arm body occludes the cube from the camera",
   "forced_event": "arm body occludes the cube and the white zone",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 727160,
   "repo_id": "aractingi/push_cube_front_side_reward_long",
   "episode_index": 6,
   "frame_index": 99,
   "instruction": "Push the green cube to the yellow sticker",
   "gt_event": "cube occluded by the arm in camera B",
   "forced_event": "cube now lies on the yellow sticker",
   "gt_class": "occlusion",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 730026,
   "repo_id": "aractingi/push_cube_square_light_reward",
   "episode_index": 16,
   "frame_index": 384,
   "instruction": "Push the green cube to the square area",
   "gt_event": "cube pushed too far, resting on the square's top-right edge",
   "forced_event": "cube now inside the square outline",
   "gt_class": "contact_collision",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 738112,
   "repo_id": "arulloomba/so100_test_trimmed",
   "episode_index": 17,
   "frame_index": 200,
   "instruction": "Grasp a block and put it in the bin.",
   "gt_event": "gripper lowered inside the bin, block occluded",
   "forced_event": "block released into the bin",
   "gt_class": "occlusion",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 739312,
   "repo_id": "arulloomba/so100_test_trimmed",
   "episode_index": 36,
   "frame_index": 200,
   "instruction": "Grasp a block and put it in the bin.",
   "gt_event": "block released into the bin",
   "forced_event": "block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 741805,
   "repo_id": "asafxrev/so100_jenga_box_may28_2cam_bg",
   "episode_index": 10,
   "frame_index": 893,
   "instruction": "Grab a Jenga piece and put it on top the box",
   "gt_event": "arm idle at rest pose",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 745435,
   "repo_id": "b3rnd/record-50-episodes",
   "episode_index": 45,
   "frame_index": 49,
   "instruction": "Grab the black cube and stack on the red cube",
   "gt_event": "arm still idle at start pose",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 752389,
   "repo_id": "baladhurgesh97/so100_final_picking_3",
   "episode_index": 12,
   "frame_index": 717,
   "instruction": "Grasp a carrot, plastic bottle and put it in respective bins.",
   "gt_event": "carrot released into the left cup",
   "forced_event": "carrot released into the cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 765458,
   "repo_id": "bensprenger/chess_game_001_blue_stereo",
   "episode_index": 40,
   "frame_index": 148,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "motion blur in the moving camera",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 766666,
   "repo_id": "bensprenger/chess_game_001_blue_stereo",
   "episode_index": 99,
   "frame_index": 101,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "wrist view heavily blurred and largely occluded by the gripper body",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 768783,
   "repo_id": "bensprenger/chess_game_001_blue_stereo",
   "episode_index": 141,
   "frame_index": 226,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "motion blur in camera B while the arm retracts",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 768893,
   "repo_id": "bensprenger/chess_game_001_blue_stereo",
   "episode_index": 151,
   "frame_index": 52,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "arm essentially stationary at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 770432,
   "repo_id": "bensprenger/chess_game_001_blue_stereo",
   "episode_index": 167,
   "frame_index": 99,
   "instruction": "Move the blue chess pieces to the highlighted squares.",
   "gt_event": "camera B motion blur during descent",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 778522,
   "repo_id": "bensprenger/left_arm_yellow_brick_in_box_with_purple_noise_v0",
   "episode_index": 7,
   "frame_index": 50,
   "instruction": "Grasp a yellow lego block and put it in the bin.",
   "gt_event": "little to no motion (idle start)",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 782903,
   "repo_id": "bensprenger/right_arm_p_brick_in_box_with_y_noise_v0",
   "episode_index": 25,
   "frame_index": 248,
   "instruction": "Grasp the purple lego block and put it in the box.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "arm occludes the block in camera A",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 786673,
   "repo_id": "bjb7/so101_berm_build_test_1",
   "episode_index": 24,
   "frame_index": 630,
   "instruction": "Build a berm.",
   "gt_event": "person walks through the background of camera A",
   "forced_event": "arm body occludes the scoop",
   "gt_class": "human",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 796091,
   "repo_id": "bjb7/so101_pen_touch_test_1",
   "episode_index": 2,
   "frame_index": 181,
   "instruction": "Touch the pen.",
   "gt_event": "gripper tip contacts the pen",
   "forced_event": "arm essentially stationary",
   "gt_class": "contact_collision",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 796381,
   "repo_id": "bjb7/so101_pen_touch_test_1",
   "episode_index": 18,
   "frame_index": 132,
   "instruction": "Touch the pen.",
   "gt_event": "gripper fingertips contact the pen",
   "forced_event": "arm essentially stationary",
   "gt_class": "contact_collision",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 796732,
   "repo_id": "bjb7/so101_pen_touch_test_1",
   "episode_index": 33,
   "frame_index": 144,
   "instruction": "Touch the pen.",
   "gt_event": "arm still idle",
   "forced_event": "arm retracts away from the pen",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 799250,
   "repo_id": "bjb7/so101_pen_touch_test_2",
   "episode_index": 60,
   "frame_index": 256,
   "instruction": "Touch the pen.",
   "gt_event": "gripper re-contacts the pen",
   "forced_event": "arm essentially stationary",
   "gt_class": "contact_collision",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 802803,
   "repo_id": "bnarin/so100_tic_tac_toe_move_4_0",
   "episode_index": 0,
   "frame_index": 547,
   "instruction": "grab a blue block. And place it in the tic tac toe board",
   "gt_event": "arm appears idle after task completion",
   "forced_event": "block released into the empty cell",
   "gt_class": "idle",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 805782,
   "repo_id": "carpit680/giraffe_sock_demo_1",
   "episode_index": 6,
   "frame_index": 118,
   "instruction": "Grasp a sock off the floor.",
   "gt_event": "arm partially outside the left edge of frame",
   "forced_event": "arm body occludes the sock and gripper",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 806687,
   "repo_id": "carpit680/giraffe_sock_demo_2",
   "episode_index": 9,
   "frame_index": 71,
   "instruction": "Drop a sock into the bin.",
   "gt_event": "sock largely occluded by the arm over the basket",
   "forced_event": "arm occludes the basket and bin",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 810317,
   "repo_id": "cezarsolo/so100_data",
   "episode_index": 44,
   "frame_index": 298,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released over the bin",
   "forced_event": "block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 811064,
   "repo_id": "cezarsolo/so100_newdata",
   "episode_index": 6,
   "frame_index": 497,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 811163,
   "repo_id": "cezarsolo/so100_newdata",
   "episode_index": 6,
   "frame_index": 596,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "block released into the bin",
   "gt_class": "idle",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 811661,
   "repo_id": "cezarsolo/so100_newdata",
   "episode_index": 7,
   "frame_index": 497,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 811810,
   "repo_id": "cezarsolo/so100_newdata",
   "episode_index": 27,
   "frame_index": 49,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 814918,
   "repo_id": "charleyong/so100_tic_tac_toe_autoend",
   "episode_index": 34,
   "frame_index": 197,
   "instruction": "Place the circle to the center right box",
   "gt_event": "arm dwells near the pick location with little motion",
   "forced_event": "ring occluded by the arm during grasp",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 814967,
   "repo_id": "charleyong/so100_tic_tac_toe_autoend",
   "episode_index": 34,
   "frame_index": 246,
   "instruction": "Place the circle to the center right box",
   "gt_event": "arm occludes the board and the carried ring",
   "forced_event": "ring occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 815223,
   "repo_id": "charleyong/so100_tic_tac_toe_autoend",
   "episode_index": 37,
   "frame_index": 107,
   "instruction": "Place the circle to the center right box",
   "gt_event": "arm occludes the ring pile",
   "forced_event": "ring occluded by the arm during grasp",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 817300,
   "repo_id": "charleyong/so100_tic_tac_toe_autoend",
   "episode_index": 86,
   "frame_index": 269,
   "instruction": "Place the circle to the center bottom box",
   "gt_event": "ring released into the middle cell of the row nearest the robot, not the image bottom-center cell",
   "forced_event": "ring released in the top-left cell, not the center-bottom cell",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 819991,
   "repo_id": "charleyong/so100_tic_tac_toe_autoend",
   "episode_index": 161,
   "frame_index": 144,
   "instruction": "Place the circle to the top right corner box",
   "gt_event": "ring largely occluded by the arm",
   "forced_event": "ring occluded by arm during transport",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 820435,
   "repo_id": "charleyong/so100_tic_tac_toe_autoend",
   "episode_index": 172,
   "frame_index": 250,
   "instruction": "Place the circle to the top right corner box",
   "gt_event": "arm body occludes the placement area",
   "forced_event": "ring occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 827588,
   "repo_id": "chirag1701/new0_green_block",
   "episode_index": 37,
   "frame_index": 342,
   "instruction": "pick the green lego block and place it into the transparent box",
   "gt_event": "block released inside the transparent box",
   "forced_event": "block released inside the transparent box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 842369,
   "repo_id": "chmadran/so100_dataset04",
   "episode_index": 0,
   "frame_index": 213,
   "instruction": "picks the blue block and places it in the red cup.",
   "gt_event": "brick occluded by the arm during transport",
   "forced_event": "arm occludes the cup and workspace",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 844045,
   "repo_id": "chmadran/so100_dataset08",
   "episode_index": 0,
   "frame_index": 110,
   "instruction": "places blue block on paper.",
   "gt_event": "block appears to have been released near/into the cup",
   "forced_event": "brick released into the cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 845652,
   "repo_id": "chmadran/so100_dataset08",
   "episode_index": 33,
   "frame_index": 247,
   "instruction": "places blue block on paper.",
   "gt_event": "brick released into the cup",
   "forced_event": "brick released into the cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 847328,
   "repo_id": "cjlqwe/so100_51_70",
   "episode_index": 9,
   "frame_index": 694,
   "instruction": "Grasp a cube and put it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 847374,
   "repo_id": "cjlqwe/so100_51_70",
   "episode_index": 9,
   "frame_index": 740,
   "instruction": "Grasp a cube and put it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 855535,
   "repo_id": "danaaubakirova/so100_task_2",
   "episode_index": 14,
   "frame_index": 286,
   "instruction": "Pick up the red cube and place it in the box.",
   "gt_event": "gripper briefly hovers over the blue cube (not part of the task)",
   "forced_event": "cube released into the box",
   "gt_class": "miss_fail",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 857286,
   "repo_id": "danaaubakirova/so100_v2_task_1",
   "episode_index": 4,
   "frame_index": 157,
   "instruction": "Pick up the cube and place it in the box.",
   "gt_event": "arm largely out of the overhead camera's framed area",
   "forced_event": "cube occluded by arm in camera A",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 857738,
   "repo_id": "danaaubakirova/so100_v2_task_1",
   "episode_index": 28,
   "frame_index": 54,
   "instruction": "Pick up the cube and place it in the box.",
   "gt_event": "arm nearly stationary, little progress",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 860900,
   "repo_id": "danaaubakirova/so100_v2_task_4",
   "episode_index": 2,
   "frame_index": 50,
   "instruction": "Put the red cube on top of the blue cube.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 861253,
   "repo_id": "danaaubakirova/so100_v2_task_4",
   "episode_index": 2,
   "frame_index": 403,
   "instruction": "Put the red cube on top of the blue cube.",
   "gt_event": "red cube resting on blue cube",
   "forced_event": "red cube released on top of blue cube",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 863600,
   "repo_id": "danaaubakirova/svla_so100_task4_v3_clean",
   "episode_index": 46,
   "frame_index": 48,
   "instruction": "Put the red cube on top of the blue cube.",
   "gt_event": "little to no motion between the first sampled frames (idle start)",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 866436,
   "repo_id": "danaaubakirova/svla_so100_task4_v3_multiple",
   "episode_index": 32,
   "frame_index": 452,
   "instruction": "Put the green cube on top of the orange cube.",
   "gt_event": "arm dwells near the stack with little motion",
   "forced_event": "green cube occluded by arm in overhead view",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 877710,
   "repo_id": "danielkorth/bike-light4am-part2",
   "episode_index": 7,
   "frame_index": 196,
   "instruction": "put the bike light into the black bag",
   "gt_event": "wrist camera briefly points away from workspace",
   "forced_event": "arm essentially stationary",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 890707,
   "repo_id": "danielkorth/green-marker4am",
   "episode_index": 38,
   "frame_index": 48,
   "instruction": "put the green marker into the black bag",
   "gt_event": "arm still idle at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 892121,
   "repo_id": "danielkorth/usb-C-cable",
   "episode_index": 0,
   "frame_index": 748,
   "instruction": "put the cable into the black bag",
   "gt_event": "cable released inside the bag",
   "forced_event": "cable released inside the black bag",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 898336,
   "repo_id": "danielkorth/usb-stick",
   "episode_index": 5,
   "frame_index": 48,
   "instruction": "put the usb stick into the black bag",
   "gt_event": "arm essentially idle",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 899962,
   "repo_id": "danielkorth/usbc-cable-2",
   "episode_index": 9,
   "frame_index": 349,
   "instruction": "put the usbc cable into the black bag",
   "gt_event": "cable released on the bag surface rather than clearly inside",
   "forced_event": "cable released inside the black bag",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 902270,
   "repo_id": "davidgoss/record-test2",
   "episode_index": 18,
   "frame_index": 333,
   "instruction": "Grab the cube",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 902317,
   "repo_id": "davidgoss/record-test2",
   "episode_index": 18,
   "frame_index": 380,
   "instruction": "Grab the cube",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 902969,
   "repo_id": "davidgoss/record-test4",
   "episode_index": 9,
   "frame_index": 174,
   "instruction": "Grab the cube",
   "gt_event": "strong motion blur in wrist view during retreat",
   "forced_event": "cube released into the tray",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 903078,
   "repo_id": "davidgoss/record-test4",
   "episode_index": 11,
   "frame_index": 50,
   "instruction": "Grab the cube",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 903178,
   "repo_id": "davidgoss/record-test4",
   "episode_index": 11,
   "frame_index": 150,
   "instruction": "Grab the cube",
   "gt_event": "arm partly occludes the tray in the overhead view",
   "forced_event": "cube occluded by arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 904619,
   "repo_id": "dc2ac/so100-t5",
   "episode_index": 14,
   "frame_index": 191,
   "instruction": "Grasp an object and put it in the bin.",
   "gt_event": "camera B fully blurred",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 907402,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 18,
   "frame_index": 212,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "source square now empty; destination outside/at frame edge",
   "forced_event": "piece released on the blue target",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 909691,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 79,
   "frame_index": 266,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "target square at the frame edge is occluded by the arm",
   "forced_event": "arm and target leave the top edge of the frame",
   "gt_class": "occlusion",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 911446,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 133,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "pawn occluded by the arm during grasp",
   "forced_event": "arm occludes the marked squares",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 912989,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 226,
   "frame_index": 213,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece partly occluded by the arm",
   "forced_event": "arm body occludes the marked squares",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 913149,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 240,
   "frame_index": 0,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "robot not yet in view",
   "forced_event": "arm still outside the frame",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 913202,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 240,
   "frame_index": 53,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "idle, no motion visible",
   "forced_event": "arm still outside the frame",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 913521,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 245,
   "frame_index": 0,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "robot arm outside camera view",
   "forced_event": "arm still outside the frame",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 915225,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 299,
   "frame_index": 212,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece and gripper partly occluded by the arm",
   "forced_event": "piece occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 918788,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 368,
   "frame_index": 53,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm partially occludes the board area near the source square",
   "forced_event": "arm partially occludes the marked squares",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 921876,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 425,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "gripper occludes the target piece",
   "forced_event": "arm occludes the red-marked square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 922462,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 444,
   "frame_index": 0,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "robot arm not yet in view",
   "forced_event": "arm still outside the board view",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 922515,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 444,
   "frame_index": 53,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm still idle / out of frame",
   "forced_event": "arm still outside the board view",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 923739,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 509,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece and gripper leave the framed area",
   "forced_event": "piece occluded by the arm",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 924483,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 533,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm partially occludes the target piece",
   "forced_event": "arm occludes the red-marked square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 924855,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 549,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm partially occludes the target and piece",
   "forced_event": "arm occludes the marked squares",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 926716,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 581,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece occluded by the arm while being carried",
   "forced_event": "arm and cable occlude the target square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 927355,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 601,
   "frame_index": 53,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm still parked, no motion yet",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 927993,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 611,
   "frame_index": 319,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "camera/board view shifts noticeably",
   "forced_event": "arm leaves the frame, board layout looks unchanged",
   "gt_class": "camera_view",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 928313,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 616,
   "frame_index": 266,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm withdraws with the marked squares still empty; no piece transferred",
   "forced_event": "arm withdraws without a piece transferred",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 928579,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 635,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece at red marker occluded by the gripper",
   "forced_event": "arm partially occludes the red-marked square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 928633,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 635,
   "frame_index": 213,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm body occludes much of the board",
   "forced_event": "arm and cable occlude the target square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 932358,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 754,
   "frame_index": 212,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece occluded by the arm",
   "forced_event": "arm body occludes the target area",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 932889,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 756,
   "frame_index": 371,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "final board state does not clearly show the piece moved off the red square",
   "forced_event": "arm retracts out of the frame",
   "gt_class": "miss_fail",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 933103,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 757,
   "frame_index": 213,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm occludes the piece from the top view",
   "forced_event": "arm body occludes the target square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 933464,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 758,
   "frame_index": 201,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm occludes the target squares",
   "forced_event": "piece occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 934200,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 766,
   "frame_index": 212,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece partly occluded by the arm during transport",
   "forced_event": "piece occluded by the arm while being carried",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 937287,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 817,
   "frame_index": 319,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "motion blur on the retracting arm",
   "forced_event": "piece released on the blue square",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 943408,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1001,
   "frame_index": 106,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm occludes the target piece from the overhead view",
   "forced_event": "arm occludes the marked squares",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 947979,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1110,
   "frame_index": 212,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece partly occluded by the arm",
   "forced_event": "piece released on the blue square",
   "gt_class": "occlusion",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 949044,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1127,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece and source square partly occluded by the arm",
   "forced_event": "arm occludes the target square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 949364,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1128,
   "frame_index": 106,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm partially occludes the source square",
   "forced_event": "arm occludes the red-marked square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 950161,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1148,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece occluded by the arm while being carried",
   "forced_event": "piece occluded by the arm while being carried",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 954043,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1280,
   "frame_index": 318,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "motion blur while the arm retreats",
   "forced_event": "arm retracts with no visible piece transfer",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 957714,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1373,
   "frame_index": 265,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece carried off the board toward the top edge",
   "forced_event": "arm retracts with no piece visible on the blue square",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 959630,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1428,
   "frame_index": 319,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm body occludes the blue target square",
   "forced_event": "piece occluded by the arm while being carried",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 960535,
   "repo_id": "dopaul/1500_chess_moves",
   "episode_index": 1451,
   "frame_index": 106,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "arm occludes the target square",
   "forced_event": "arm occludes the target square",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 963779,
   "repo_id": "dopaul/first_movement_test_v6",
   "episode_index": 3,
   "frame_index": 0,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "camera B overexposed, pointed at ceiling",
   "forced_event": "camera B overexposed",
   "gt_class": "camera_view",
   "forced_class": "camera_view",
   "class_match": true
  },
  {
   "index": 963832,
   "repo_id": "dopaul/first_movement_test_v6",
   "episode_index": 3,
   "frame_index": 53,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "camera B heavily overexposed toward window",
   "forced_event": "camera B overexposed",
   "gt_class": "camera_view",
   "forced_class": "camera_view",
   "class_match": true
  },
  {
   "index": 965641,
   "repo_id": "dopaul/game_v5",
   "episode_index": 34,
   "frame_index": 372,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "camera B washed out at home pose",
   "forced_event": "arm retracted, board unchanged",
   "gt_class": "camera_view",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 965642,
   "repo_id": "dopaul/game_v5",
   "episode_index": 35,
   "frame_index": 0,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "camera B heavily overexposed / washed out",
   "forced_event": "camera B overexposed",
   "gt_class": "camera_view",
   "forced_class": "camera_view",
   "class_match": true
  },
  {
   "index": 966707,
   "repo_id": "dopaul/game_v5",
   "episode_index": 51,
   "frame_index": 319,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "wrist camera overexposed while arm is raised",
   "forced_event": "arm retracts out of the camera view",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 972724,
   "repo_id": "dopaul/game_v7",
   "episode_index": 23,
   "frame_index": 0,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "camera B (wrist) points at the ceiling at the raised home pose",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 972883,
   "repo_id": "dopaul/game_v7",
   "episode_index": 23,
   "frame_index": 159,
   "instruction": "Move the chess piece from red to blue",
   "gt_event": "piece partly occluded by the arm in the overhead view",
   "forced_event": "arm occludes the target square in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 978358,
   "repo_id": "doujiangwang/task1_10epi_100000step",
   "episode_index": 1,
   "frame_index": 47,
   "instruction": "Grab a piece of tape and put it in the box.",
   "gt_event": "little to no motion (start-up idle)",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 984315,
   "repo_id": "dragon-95/so100_sorting_2",
   "episode_index": 18,
   "frame_index": 49,
   "instruction": "Pick up the object from box A and place it in box B.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 989993,
   "repo_id": "dragon-95/so100_sorting_2",
   "episode_index": 150,
   "frame_index": 188,
   "instruction": "Pick up the object from box A and place it in box B.",
   "gt_event": "new object appears in box A (scene reset by operator)",
   "forced_event": "arm nearly stationary",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 990839,
   "repo_id": "dragon-95/so100_sorting_2",
   "episode_index": 150,
   "frame_index": 1034,
   "instruction": "Pick up the object from box A and place it in box B.",
   "gt_event": "next object placed in box A",
   "forced_event": "sachet released into box B",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1005942,
   "repo_id": "dragon-95/so100_sorting_3",
   "episode_index": 148,
   "frame_index": 467,
   "instruction": "Pick up the object from box A and place it in box B.",
   "gt_event": "motion blur on camera A during fast transfer",
   "forced_event": "object occluded by arm while being carried",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1007080,
   "repo_id": "dragon-95/so100_sorting_3",
   "episode_index": 161,
   "frame_index": 493,
   "instruction": "Pick up the object from box A and place it in box B.",
   "gt_event": "package slips out of the gripper back into box A",
   "forced_event": "gripper reaches the packet but no grasp is observed",
   "gt_class": "drop_slip",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1007715,
   "repo_id": "dragon-95/so100_sorting_3",
   "episode_index": 166,
   "frame_index": 387,
   "instruction": "Pick up the object from box A and place it in box B.",
   "gt_event": "repeated grasp attempt inside box A",
   "forced_event": "pen released into box B",
   "gt_class": "miss_fail",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1012462,
   "repo_id": "dulics/so100_strawberry_bear",
   "episode_index": 4,
   "frame_index": 50,
   "instruction": "Grasp a strawberry bear and put it in the bin.",
   "gt_event": "arm idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1023511,
   "repo_id": "ethanCSL/box_test",
   "episode_index": 5,
   "frame_index": 54,
   "instruction": "Open the drawer pick up the cube and put it in the drawer.",
   "gt_event": "strong motion blur from fast arm movement",
   "forced_event": "fast motion causes motion blur",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1034803,
   "repo_id": "francescocrivelli/carrot_eating",
   "episode_index": 7,
   "frame_index": 528,
   "instruction": "pick up carrot and bring to mouth",
   "gt_event": "carrot delivered at the mouth",
   "forced_event": "carrot held at the mouth for the bite",
   "gt_class": "other",
   "forced_class": "human",
   "class_match": false
  },
  {
   "index": 1037974,
   "repo_id": "francescocrivelli/orange_feeding",
   "episode_index": 14,
   "frame_index": 521,
   "instruction": "pick up orange piece and feed to person",
   "gt_event": "person bites the food piece",
   "forced_event": "person bites the piece",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 1045715,
   "repo_id": "ganker5/so100_action_20250403",
   "episode_index": 5,
   "frame_index": 162,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm reaches over empty paper, nothing grasped",
   "forced_event": "arm outside the camera view",
   "gt_class": "grasp_pickup",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1045823,
   "repo_id": "ganker5/so100_action_20250403",
   "episode_index": 5,
   "frame_index": 270,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm back at start pose, task never attempted",
   "forced_event": "arm outside the camera view",
   "gt_class": "miss_fail",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1046125,
   "repo_id": "ganker5/so100_color_0328",
   "episode_index": 0,
   "frame_index": 67,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released inside the circle",
   "forced_event": "block released inside the circle",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1046203,
   "repo_id": "ganker5/so100_color_0328",
   "episode_index": 7,
   "frame_index": 55,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm nearly stationary, little progress",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1047668,
   "repo_id": "ganker5/so100_dataline_0328",
   "episode_index": 1,
   "frame_index": 49,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm essentially stationary at start pose",
   "forced_event": "arm partially occludes the cable in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1048157,
   "repo_id": "ganker5/so100_dataline_0328",
   "episode_index": 5,
   "frame_index": 50,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm nearly stationary, slow start",
   "forced_event": "arm nearly stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1053629,
   "repo_id": "ganker5/so100_push_20250328",
   "episode_index": 36,
   "frame_index": 265,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "scene appears unchanged from previous sample (idle)",
   "forced_event": "tape roll pushed toward the drawn circle",
   "gt_class": "idle",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 1059522,
   "repo_id": "ganker5/so100_toy_20250402",
   "episode_index": 23,
   "frame_index": 467,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "toy released at the bin rim rather than clearly inside",
   "forced_event": "toy released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1060364,
   "repo_id": "ganker5/so100_toy_20250402",
   "episode_index": 56,
   "frame_index": 49,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm nearly stationary",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1065100,
   "repo_id": "gerotropic/so101_pnp",
   "episode_index": 19,
   "frame_index": 378,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "slow hovering above the block",
   "forced_event": "arm occludes the block in camera A",
   "gt_class": "miss_fail",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1070110,
   "repo_id": "gribok201/150episodes6",
   "episode_index": 29,
   "frame_index": 541,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1070782,
   "repo_id": "gribok201/150episodes6",
   "episode_index": 30,
   "frame_index": 474,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block lost from wrist view, grasp attempt missed",
   "forced_event": "gripper occludes the block in the overhead view",
   "gt_class": "miss_fail",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1071067,
   "repo_id": "gribok201/150episodes6",
   "episode_index": 30,
   "frame_index": 759,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released into bin",
   "forced_event": "block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1077152,
   "repo_id": "gribok201/150episodes6",
   "episode_index": 94,
   "frame_index": 826,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1080451,
   "repo_id": "gxy1111/so100_pick_place_easy",
   "episode_index": 13,
   "frame_index": 115,
   "instruction": "Grasp a tape and put it in the target area.",
   "gt_event": "tape occluded by arm in the external view",
   "forced_event": "wrist view heavily blurred/underexposed",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1083875,
   "repo_id": "hegdearyandev/so100_eraser_cup_v1",
   "episode_index": 26,
   "frame_index": 51,
   "instruction": "picks up the red object.",
   "gt_event": "arm essentially idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1084621,
   "repo_id": "hkphoooey/throw_stuffie",
   "episode_index": 8,
   "frame_index": 99,
   "instruction": "Grab stuffed animal and throw it on the dot.",
   "gt_event": "little to no arm motion between samples",
   "forced_event": "arm partially occludes the stuffie",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1085031,
   "repo_id": "hkphoooey/throw_stuffie",
   "episode_index": 15,
   "frame_index": 160,
   "instruction": "Grab stuffed animal and throw it on the dot.",
   "gt_event": "toy released back onto the table well short of the dot",
   "forced_event": "arm occludes the stuffie",
   "gt_class": "release_place",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1085873,
   "repo_id": "hkphoooey/throw_stuffie",
   "episode_index": 53,
   "frame_index": 221,
   "instruction": "Grab stuffed animal and throw it on the dot.",
   "gt_event": "human hand brings the stuffed animal back near the dot (reset begins)",
   "forced_event": "arm retracts with the toy still on the pink card, no longer in the air",
   "gt_class": "human",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1086271,
   "repo_id": "hkphoooey/throw_stuffie",
   "episode_index": 91,
   "frame_index": 168,
   "instruction": "Grab stuffed animal and throw it on the dot.",
   "gt_event": "toy lands against the edge of the target card, not on the dot",
   "forced_event": "arm retracts with the toy still on the table, no longer in the air",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1087661,
   "repo_id": "hkphoooey/throw_stuffie",
   "episode_index": 117,
   "frame_index": 241,
   "instruction": "Grab stuffed animal and throw it on the dot.",
   "gt_event": "toy lands beside/on the edge of the pink card, not centered on the dot",
   "forced_event": "stuffie lands on the target, not the target area",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1094757,
   "repo_id": "isadev/bougies1",
   "episode_index": 9,
   "frame_index": 242,
   "instruction": "Put the candles in the box.",
   "gt_event": "gripper hovers over pile without grasping",
   "forced_event": "gripper reaches the pile but no candle is grasped",
   "gt_class": "miss_fail",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1099219,
   "repo_id": "isadev/bougies1",
   "episode_index": 77,
   "frame_index": 403,
   "instruction": "Put the candles in the box.",
   "gt_event": "arm back at rest, scene unchanged from start",
   "forced_event": "arm returns to home pose with no candle deposited",
   "gt_class": "idle",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1099368,
   "repo_id": "isadev/bougies2",
   "episode_index": 6,
   "frame_index": 98,
   "instruction": "grab the candle wick and place it in the tray.",
   "gt_event": "arm still idle",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1105641,
   "repo_id": "isadev/bougies2",
   "episode_index": 149,
   "frame_index": 53,
   "instruction": "grab the candle wick and place it in the tray.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1108187,
   "repo_id": "isadev/bougies3",
   "episode_index": 15,
   "frame_index": 52,
   "instruction": "Grab the candle wick by the aluminium plate and place it in the box.",
   "gt_event": "arm still essentially idle at start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1112477,
   "repo_id": "isadev/bougies3",
   "episode_index": 158,
   "frame_index": 57,
   "instruction": "Grab the candle wick by the aluminium plate and place it in the box.",
   "gt_event": "arm essentially stationary, little progress since start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1115153,
   "repo_id": "jbraumann/so100_1902",
   "episode_index": 17,
   "frame_index": 157,
   "instruction": "picks up the yellow ball.",
   "gt_event": "gripper contacts the yellow ball",
   "forced_event": "arm body occludes the yellow disc in camera A",
   "gt_class": "contact_collision",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1120579,
   "repo_id": "jchun/so100_cleaning_20250525_132814",
   "episode_index": 21,
   "frame_index": 284,
   "instruction": "Clean the area in front of the robot",
   "gt_event": "wrist camera almost fully occluded by the cloth",
   "forced_event": "wrist camera fully occluded by the cloth",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1122197,
   "repo_id": "jchun/so100_cleaning_20250525_154019",
   "episode_index": 6,
   "frame_index": 57,
   "instruction": "Clean the area in front of the robot",
   "gt_event": "wrist camera almost fully occluded by the cloth",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1123644,
   "repo_id": "jchun/so100_cleaning_20250525_154019",
   "episode_index": 26,
   "frame_index": 344,
   "instruction": "Clean the area in front of the robot",
   "gt_event": "cloth released on the floor",
   "forced_event": "cloth released on the floor",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1131074,
   "repo_id": "jiuyal2/so100_marker",
   "episode_index": 93,
   "frame_index": 272,
   "instruction": "Pick up the blue marker.",
   "gt_event": "green marker no longer on the mat, possibly displaced earlier",
   "forced_event": "arm and markers leave the camera view",
   "gt_class": "release_place",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1136379,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 3,
   "frame_index": 0,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "bolt still sitting in the lid at episode start (scene reset in progress)",
   "forced_event": "arm idle",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1137137,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 15,
   "frame_index": 325,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "wrist camera swings up and shows the room instead of the workspace",
   "forced_event": "bolt released onto the dish",
   "gt_class": "camera_view",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1137242,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 20,
   "frame_index": 50,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "human hand has moved the bolt from the lid onto the mat (scene reset)",
   "forced_event": "bolt now lies on the mat (scene reset)",
   "gt_class": "human",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1137847,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 22,
   "frame_index": 304,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "wrist camera swings up and views the ceiling",
   "forced_event": "bolt released onto the dish",
   "gt_class": "camera_view",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1138533,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 80,
   "frame_index": 55,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "bolt now lies on the mat outside the dish (moved between samples)",
   "forced_event": "bolt now lies on the mat instead of in the dish (scene reset)",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1139054,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 93,
   "frame_index": 99,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "bolt now lies on the mat instead of in the dish (scene reset)",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1139820,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 115,
   "frame_index": 52,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "bolt now standing on the mat, dish empty",
   "forced_event": "bolt now lies on the mat instead of in the dish (scene reset)",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1140193,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 140,
   "frame_index": 110,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "bolt largely occluded by the arm in camera A",
   "forced_event": "bolt carried over the round dish",
   "gt_class": "occlusion",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1141486,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 197,
   "frame_index": 0,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "start state: bolt lies inside the gold dish",
   "forced_event": "bolt released into the dish",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1141778,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 229,
   "frame_index": 160,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "bolt released on the disc, not clearly visible",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1142645,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 262,
   "frame_index": 122,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "bolt largely occluded by the arm in the external view",
   "forced_event": "bolt occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1144021,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 308,
   "frame_index": 0,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "bolt initially resting in the dish (pre-reset state)",
   "forced_event": "bolt released on the mat instead of the dish",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1145153,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 337,
   "frame_index": 0,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "heavy motion blur in wrist view",
   "forced_event": "bolt released into the dish",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1145687,
   "repo_id": "jlesein/TestBoulon7",
   "episode_index": 363,
   "frame_index": 161,
   "instruction": "Pick up the bolt and put it on the plate.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "bolt occluded by the arm in the overhead view",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1152003,
   "repo_id": "jmrog/record-sweet3",
   "episode_index": 9,
   "frame_index": 628,
   "instruction": "Grab_the_sweet",
   "gt_event": "sweet released into the mug",
   "forced_event": "sweet released into the mug",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1154772,
   "repo_id": "jmrog/record-sweet3",
   "episode_index": 34,
   "frame_index": 279,
   "instruction": "Grab_the_sweet",
   "gt_event": "little to no motion between samples",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1159030,
   "repo_id": "jmrog/so100_sweet_pick",
   "episode_index": 32,
   "frame_index": 50,
   "instruction": "Pick up the candy and place it in the bowl.",
   "gt_event": "arm essentially static, idle start",
   "forced_event": "arm idle at rest",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1160017,
   "repo_id": "jmrog/so100_sweet_pick",
   "episode_index": 40,
   "frame_index": 537,
   "instruction": "Pick up the candy and place it in the bowl.",
   "gt_event": "sweet released near/into the mug",
   "forced_event": "arm retracts, bowl still empty",
   "gt_class": "release_place",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1160114,
   "repo_id": "joaoocruz00/so100_makeitD1",
   "episode_index": 7,
   "frame_index": 47,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "operator still moving behind the workspace; arm idle",
   "forced_event": "human hand enters the workspace (episode reset begins)",
   "gt_class": "other",
   "forced_class": "episode_marker",
   "class_match": false
  },
  {
   "index": 1166868,
   "repo_id": "jonhpark/so101_pick_place",
   "episode_index": 39,
   "frame_index": 544,
   "instruction": "Grasp a skyblue doll and put it in the white bowl.",
   "gt_event": "arm idle at home after completion",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1170796,
   "repo_id": "jonyshaik/so101_pp_block",
   "episode_index": 10,
   "frame_index": 1500,
   "instruction": "Pick up the wooden block and place them on the plate.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1172390,
   "repo_id": "jonyshaik/so101_pp_block",
   "episode_index": 34,
   "frame_index": 1312,
   "instruction": "Pick up the wooden block and place them on the plate.",
   "gt_event": "arm idle after completion",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1177621,
   "repo_id": "joooonhocho/so100_doll_in_bowl_2",
   "episode_index": 4,
   "frame_index": 598,
   "instruction": "Grasp a skyblue doll and put it into the bowl.",
   "gt_event": "motion blur in camera B frame",
   "forced_event": "arm idle at rest pose",
   "gt_class": "blur",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1182027,
   "repo_id": "jpata/so100_pick_place_tangerine",
   "episode_index": 62,
   "frame_index": 171,
   "instruction": "Pick up the tangerine and place it.",
   "gt_event": "tray shifts slightly as the gripper works around it",
   "forced_event": "tangerine occluded by the arm in the top view",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1187912,
   "repo_id": "juni3227/so100_test03",
   "episode_index": 58,
   "frame_index": 425,
   "instruction": "Put bottle cap(s) into a cup",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1191120,
   "repo_id": "juni3227/so100_test_cap02_sideway",
   "episode_index": 53,
   "frame_index": 314,
   "instruction": "Put bottle_cap into a cup",
   "gt_event": "cap released into the cup",
   "forced_event": "cap released into the cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1198195,
   "repo_id": "k1000dai/standup_petbottle",
   "episode_index": 10,
   "frame_index": 204,
   "instruction": "Pick up the plastic bottle and stand it up on the white place",
   "gt_event": "bottle largely occluded by the arm",
   "forced_event": "arm occludes the bottle in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1221344,
   "repo_id": "kantine/domotic_pouringCoffee_expert",
   "episode_index": 17,
   "frame_index": 707,
   "instruction": "pouring coffe in a cup",
   "gt_event": "arm idle after task completion",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1233141,
   "repo_id": "kantine/flip_A4",
   "episode_index": 9,
   "frame_index": 297,
   "instruction": "flip A4",
   "gt_event": "card is now flipped down",
   "forced_event": "tile flipped down",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1233539,
   "repo_id": "kantine/flip_A5",
   "episode_index": 8,
   "frame_index": 248,
   "instruction": "flip A5",
   "gt_event": "strong motion blur in wrist view",
   "forced_event": "arm retracts without having flipped the tile",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1234445,
   "repo_id": "kantine/industrial_robothon_buttons_anomaly",
   "episode_index": 0,
   "frame_index": 707,
   "instruction": "several anomalies: slider not completely pushed / inverse red and blue",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1258225,
   "repo_id": "kevin-nd/so100_test_2",
   "episode_index": 5,
   "frame_index": 895,
   "instruction": "Pickup cup and make a pile of cup.",
   "gt_event": "scene restored to initial layout",
   "forced_event": "arm essentially idle",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1260064,
   "repo_id": "kevin510/lerobot-cat-toy-placement",
   "episode_index": 15,
   "frame_index": 49,
   "instruction": "Grasp the cat toy and put it in the cup.",
   "gt_event": "arm essentially idle at start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1263729,
   "repo_id": "kirdo/Pick_all_blocks",
   "episode_index": 14,
   "frame_index": 200,
   "instruction": "Move blocks one by one until all three blocks are in the tray. ",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1265496,
   "repo_id": "kirdo/Pick_all_blocks",
   "episode_index": 50,
   "frame_index": 0,
   "instruction": "Move blocks one by one until all three blocks are in the tray. ",
   "gt_event": "blocks start already inside the tray",
   "forced_event": "arm withdraws from the tray",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1266519,
   "repo_id": "kirdo/Pick_all_blocks",
   "episode_index": 63,
   "frame_index": 94,
   "instruction": "Move blocks one by one until all three blocks are in the tray. ",
   "gt_event": "blocks now lie outside the tray - scene reset/emptying between samples",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1267608,
   "repo_id": "kivod/so100_cam2",
   "episode_index": 9,
   "frame_index": 48,
   "instruction": "Grasp a cucumber and put it in the hole.",
   "gt_event": "arm essentially stationary",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1268780,
   "repo_id": "kivod/so100_cam2",
   "episode_index": 34,
   "frame_index": 294,
   "instruction": "Grasp a cucumber and put it in the hole.",
   "gt_event": "cucumber released into the tape roll hole",
   "forced_event": "cucumber released into the tape roll hole",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1269177,
   "repo_id": "kivod/so100_cam2",
   "episode_index": 42,
   "frame_index": 298,
   "instruction": "Grasp a cucumber and put it in the hole.",
   "gt_event": "grasp not secured; cucumber shifted/rotated on the table",
   "forced_event": "cucumber occluded by arm in top view",
   "gt_class": "grasp_pickup",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1272870,
   "repo_id": "kkurzweil/so100_wrist_02",
   "episode_index": 1,
   "frame_index": 200,
   "instruction": "Find the closest Lego and put it in the bin.",
   "gt_event": "brick released into the bin",
   "forced_event": "arm retracts over the bin, no visible Lego piece",
   "gt_class": "release_place",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1273135,
   "repo_id": "kkurzweil/so100_wrist_02",
   "episode_index": 5,
   "frame_index": 214,
   "instruction": "Find the closest Lego and put it in the bin.",
   "gt_event": "brick no longer in gripper; drop into bin not clearly visible in sampled frames",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1275650,
   "repo_id": "koenvanwijk/orange50-1",
   "episode_index": 1,
   "frame_index": 44,
   "instruction": "Pick up the orange object and but it in the LEGO box. ",
   "gt_event": "strong motion blur in camera B",
   "forced_event": "strong motion blur in camera B",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1278846,
   "repo_id": "kristaqp/so101-pick-place",
   "episode_index": 47,
   "frame_index": 268,
   "instruction": "Pick the red object and place it in the box",
   "gt_event": "object released standing at the box rim, not clearly inside",
   "forced_event": "object released on the cardboard, not inside the box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1279842,
   "repo_id": "kumarhans/so100_push_box_real1",
   "episode_index": 7,
   "frame_index": 47,
   "instruction": "Push the box on top of the target",
   "gt_event": "little to no motion between the first sampled frames",
   "forced_event": "arm partially occludes the box in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1282645,
   "repo_id": "kumarhans/so100_tape_task",
   "episode_index": 48,
   "frame_index": 42,
   "instruction": "Grasp a roll of tape and put it over the candle case.",
   "gt_event": "motion blur in wrist view during fast approach",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1294712,
   "repo_id": "kyomangold/so100_ttt_B1_v2",
   "episode_index": 29,
   "frame_index": 406,
   "instruction": "Pick up the round, orange token and place it in the grid on square B1.",
   "gt_event": "arm idle at home",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1294762,
   "repo_id": "kyomangold/so100_ttt_B1_v2",
   "episode_index": 29,
   "frame_index": 456,
   "instruction": "Pick up the round, orange token and place it in the grid on square B1.",
   "gt_event": "arm idle at home",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1312332,
   "repo_id": "lirislab/guess_who_lighting",
   "episode_index": 28,
   "frame_index": 161,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "close-range frame is slightly motion-blurred",
   "forced_event": "strong motion blur, camera very close to board",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1313055,
   "repo_id": "lirislab/guess_who_lighting",
   "episode_index": 63,
   "frame_index": 212,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "episode ends with no manipulation performed",
   "forced_event": "arm withdraws from the board, board looks unchanged",
   "gt_class": "episode_marker",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1314031,
   "repo_id": "lirislab/guess_who_no_cond",
   "episode_index": 7,
   "frame_index": 161,
   "instruction": "Place the card in the slot.",
   "gt_event": "motion blur",
   "forced_event": "tile flap pressed",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1315762,
   "repo_id": "lirislab/guess_who_so100",
   "episode_index": 20,
   "frame_index": 224,
   "instruction": "",
   "gt_event": "gripper contacts the board tiles (motion blur)",
   "forced_event": "strong motion blur, camera very close to board",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1316286,
   "repo_id": "lirislab/guess_who_so100",
   "episode_index": 26,
   "frame_index": 155,
   "instruction": "",
   "gt_event": "motion blur from fast approach",
   "forced_event": "gripper contacts the tile row",
   "gt_class": "blur",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 1317047,
   "repo_id": "lirislab/guess_who_so100",
   "episode_index": 59,
   "frame_index": 216,
   "instruction": "",
   "gt_event": "arm retreats to start pose; outcome on board not clearly visible",
   "forced_event": "arm essentially stationary",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1317222,
   "repo_id": "lirislab/guess_who_so100",
   "episode_index": 62,
   "frame_index": 174,
   "instruction": "",
   "gt_event": "close contact with board tiles, view largely occluded by the board",
   "forced_event": "strong motion blur, camera very close to board",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1319248,
   "repo_id": "lirislab/open_top_drawer_teabox",
   "episode_index": 17,
   "frame_index": 54,
   "instruction": "Open the top drawer of the teabox",
   "gt_event": "little to no motion since frame 1 (idle start)",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1325352,
   "repo_id": "lirislab/red_cube_into_blue_cube",
   "episode_index": 41,
   "frame_index": 168,
   "instruction": "Put the red cube on top of the blue cube.",
   "gt_event": "cube hidden behind gripper/blue cube",
   "forced_event": "red cube occluded by gripper in top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1328244,
   "repo_id": "lirislab/so100_demo",
   "episode_index": 27,
   "frame_index": 373,
   "instruction": "Put the banana into the red bowl.",
   "gt_event": "banana released leaning on the bowl rim rather than fully inside",
   "forced_event": "banana released into the bowl",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1328712,
   "repo_id": "lirislab/sweep_tissue_cube",
   "episode_index": 14,
   "frame_index": 141,
   "instruction": "Sweep the red cubes to the right with the tissue bag.",
   "gt_event": "strong motion blur in camera B",
   "forced_event": "gripper contacts the bag",
   "gt_class": "blur",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 1329567,
   "repo_id": "lirislab/sweep_tissue_cube",
   "episode_index": 22,
   "frame_index": 149,
   "instruction": "Sweep the red cubes to the right with the tissue bag.",
   "gt_event": "cubes swept out of both camera views; motion blur in camera B",
   "forced_event": "cubes leave the top camera's field of view",
   "gt_class": "contact_collision",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1330000,
   "repo_id": "lirislab/sweep_tissue_cube",
   "episode_index": 25,
   "frame_index": 283,
   "instruction": "Sweep the red cubes to the right with the tissue bag.",
   "gt_event": "second cube pushed out of both camera views",
   "forced_event": "cubes leave the top camera's field of view",
   "gt_class": "contact_collision",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1333204,
   "repo_id": "liuhuanjim013/so100_block",
   "episode_index": 76,
   "frame_index": 112,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block occluded by arm in overhead view",
   "forced_event": "block occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1334619,
   "repo_id": "liuhuanjim013/so100_block",
   "episode_index": 124,
   "frame_index": 120,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block occluded by the arm in the overhead view",
   "forced_event": "wrist view heavily blurred/underexposed",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1336009,
   "repo_id": "liuhuanjim013/so100_th",
   "episode_index": 30,
   "frame_index": 296,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "motion blur in both views",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1338725,
   "repo_id": "liuhuanjim013/so100_th",
   "episode_index": 72,
   "frame_index": 152,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "arm occludes the figure in camera A",
   "forced_event": "wrist view heavily blurred/underexposed",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1339027,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 0,
   "frame_index": 49,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "arm nearly stationary",
   "forced_event": "camera B image is fully blurred/featureless",
   "gt_class": "idle",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1340126,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 9,
   "frame_index": 49,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "camera B image is heavily blurred/washed out",
   "forced_event": "arm still idle at start",
   "gt_class": "blur",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1341296,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 20,
   "frame_index": 48,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "little visible motion between the first samples",
   "forced_event": "camera B image is featureless and out of focus",
   "gt_class": "idle",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1342038,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 22,
   "frame_index": 308,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "gripper positioned over the box for release",
   "forced_event": "figure released inside the box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1343140,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 60,
   "frame_index": 162,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "camera B image heavily blurred",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1344216,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 94,
   "frame_index": 149,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "arm body occludes the figure in camera A",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1344930,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 106,
   "frame_index": 205,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "camera B almost fully blurred out",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1346662,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 139,
   "frame_index": 58,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "camera B frame is washed out / nearly featureless",
   "forced_event": "camera B image is heavily blurred/underexposed",
   "gt_class": "camera_view",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1346719,
   "repo_id": "liuhuanjim013/so100_th_1",
   "episode_index": 139,
   "frame_index": 115,
   "instruction": "Grasp a lego figure and put it in the box.",
   "gt_event": "heavy motion blur in camera B",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1354260,
   "repo_id": "liyitenga/so100_pick_taffy4",
   "episode_index": 17,
   "frame_index": 48,
   "instruction": "test1",
   "gt_event": "little to no motion (idle start)",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1356095,
   "repo_id": "liyitenga/so100_pick_taffy6",
   "episode_index": 19,
   "frame_index": 239,
   "instruction": "Pick up the toy and place it in the purple cup.",
   "gt_event": "candy occluded by gripper/bowl at release moment",
   "forced_event": "candy occluded by arm while being carried",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1359455,
   "repo_id": "lizi178119985/so100_jia",
   "episode_index": 12,
   "frame_index": 307,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "camera B mostly occluded by the arm",
   "forced_event": "object occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1359946,
   "repo_id": "lizi178119985/so100_jia",
   "episode_index": 13,
   "frame_index": 285,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm passes very close to camera B, view nearly fully occluded",
   "forced_event": "object occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1360183,
   "repo_id": "lizi178119985/so100_jia",
   "episode_index": 13,
   "frame_index": 522,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm back at rest, scene static",
   "forced_event": "arm retracts with the object still on the table",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1360986,
   "repo_id": "lizi178119985/so100_jia",
   "episode_index": 30,
   "frame_index": 235,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "gripper hovers over the glove but closes on nothing",
   "forced_event": "arm body occludes the object from the camera",
   "gt_class": "miss_fail",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1364522,
   "repo_id": "love3165303/so100_pick_ball_colors1",
   "episode_index": 15,
   "frame_index": 113,
   "instruction": "Grasp red ball and put it in the yello bin.",
   "gt_event": "ball occluded by arm in camera A",
   "forced_event": "arm occludes the workspace in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1368238,
   "repo_id": "love3165303/so100_pick_ball_colors2",
   "episode_index": 90,
   "frame_index": 205,
   "instruction": "Grasp red ball and put it in the yello bin.",
   "gt_event": "ball released into the yellow bin",
   "forced_event": "ball released into the yellow bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1378863,
   "repo_id": "m1b/so100_bluelego_updt",
   "episode_index": 0,
   "frame_index": 120,
   "instruction": "Pick a blue lego block and move it to the left.",
   "gt_event": "brick occluded by the arm in the overhead view",
   "forced_event": "arm body occludes the block in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1381751,
   "repo_id": "maitereo/so100_bag_placement_20250426",
   "episode_index": 28,
   "frame_index": 261,
   "instruction": "Grasp a bag and put it in the box.",
   "gt_event": "human hand visible near the box in the wrist view",
   "forced_event": "bag released into the box",
   "gt_class": "human",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1381960,
   "repo_id": "maitereo/so100_bag_placement_20250426",
   "episode_index": 37,
   "frame_index": 52,
   "instruction": "Grasp a bag and put it in the box.",
   "gt_event": "arm still idle at start pose",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1389139,
   "repo_id": "masato-ka/so100_cutlery_handling",
   "episode_index": 38,
   "frame_index": 247,
   "instruction": "Place the cutlery in the same coloured dish.",
   "gt_event": "motion blur from fast arm movement",
   "forced_event": "spoon occluded by the arm while being carried",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1389535,
   "repo_id": "masato-ka/so100_nlact_block_instruct_v3",
   "episode_index": 7,
   "frame_index": 50,
   "instruction": "Position the blue block a top the yellow plate.",
   "gt_event": "arm idle at start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1402877,
   "repo_id": "meetrais/ball_in_the_box",
   "episode_index": 26,
   "frame_index": 876,
   "instruction": "Grasp a ball and put it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1405419,
   "repo_id": "meetrais/ball_in_the_box",
   "episode_index": 49,
   "frame_index": 786,
   "instruction": "Grasp a ball and put it in the box.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1406046,
   "repo_id": "meetrais/cube_in_the_box4",
   "episode_index": 0,
   "frame_index": 534,
   "instruction": "Grasp a cube block and put it in the white box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1409824,
   "repo_id": "mikechambers/block_cup_14",
   "episode_index": 31,
   "frame_index": 50,
   "instruction": "Grasp a block and put it in a cup.",
   "gt_event": "arm nearly stationary",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1411482,
   "repo_id": "mikechambers/block_cup_5",
   "episode_index": 5,
   "frame_index": 334,
   "instruction": "Grasp a block and put it cup.",
   "gt_event": "block released into the cup",
   "forced_event": "block released into the mug",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1414645,
   "repo_id": "mtitg/so100_set_screw",
   "episode_index": 9,
   "frame_index": 640,
   "instruction": "Grab the screw and set it in the hole.",
   "gt_event": "little visible motion, arm nearly static",
   "forced_event": "screw released into the hole",
   "gt_class": "idle",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1424536,
   "repo_id": "nduque/new_repo_test",
   "episode_index": 1,
   "frame_index": 263,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "gripper descending/closing on the die (transition)",
   "forced_event": "die occluded by the arm in the top view",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1426112,
   "repo_id": "nduque/robustness_e6_2",
   "episode_index": 20,
   "frame_index": 49,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1433184,
   "repo_id": "nduque/robustness_e6_3",
   "episode_index": 84,
   "frame_index": 386,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "dice released into the bin",
   "forced_event": "dice released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1436356,
   "repo_id": "nduque/robustness_e8",
   "episode_index": 0,
   "frame_index": 308,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "die released into the box",
   "forced_event": "dice released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1443251,
   "repo_id": "nduque/robustness_e8_nm_nf",
   "episode_index": 23,
   "frame_index": 49,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "little to no motion between the first sampled frames",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1457382,
   "repo_id": "nduque/robustness_e9_2",
   "episode_index": 120,
   "frame_index": 388,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "dice released into the bin",
   "forced_event": "dice released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1464014,
   "repo_id": "nduque/robustness_e9_3_dp",
   "episode_index": 22,
   "frame_index": 53,
   "instruction": "Grasp a green dice and put it in the bin.",
   "gt_event": "little motion, arm still near home",
   "forced_event": "arm partially occludes the green dice in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1467267,
   "repo_id": "near0248/woogoo_20250615_011444",
   "episode_index": 41,
   "frame_index": 296,
   "instruction": "Wooper wants to eat egg sudhi, and Goomy wants to eat shrimp sushi",
   "gt_event": "camera B image strongly motion-blurred",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1468505,
   "repo_id": "near0248/woogoo_20250615_043007",
   "episode_index": 15,
   "frame_index": 49,
   "instruction": "Wooper wants to eat egg sudhi, and Goomy wants to eat shrimp sushi",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1474149,
   "repo_id": "orsoromeo/so101_test22",
   "episode_index": 43,
   "frame_index": 198,
   "instruction": "Grasp a black cylinder and put it in the bin.",
   "gt_event": "cylinder occluded by the arm in camera B",
   "forced_event": "arm occludes the cylinder in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1476618,
   "repo_id": "paszea/so100_lego",
   "episode_index": 14,
   "frame_index": 47,
   "instruction": "Grasp a lego and put it in the basket.",
   "gt_event": "arm essentially stationary",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1477185,
   "repo_id": "paszea/so100_lego",
   "episode_index": 14,
   "frame_index": 614,
   "instruction": "Grasp a lego and put it in the basket.",
   "gt_event": "lego released into the basket",
   "forced_event": "lego released into basket",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1485024,
   "repo_id": "paszea/so100_lego_mix",
   "episode_index": 4,
   "frame_index": 91,
   "instruction": "Grasp lego blocks and put them in the plate.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1494650,
   "repo_id": "paszea/so100_whale_2",
   "episode_index": 0,
   "frame_index": 605,
   "instruction": "Grasp a whale and put it in the plate.",
   "gt_event": "human hand appears at the laptop keyboard (no contact with objects)",
   "forced_event": "human hand reaches toward the laptop keyboard (episode end)",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 1495894,
   "repo_id": "paszea/so100_whale_2",
   "episode_index": 37,
   "frame_index": 518,
   "instruction": "Grasp a whale and put it in the plate.",
   "gt_event": "human hand appears at the laptop, likely ending the recording",
   "forced_event": "human hand enters the workspace near the laptop",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 1498737,
   "repo_id": "paszea/so100_whale_3",
   "episode_index": 14,
   "frame_index": 434,
   "instruction": "Grasp a whale and put it in the plate.",
   "gt_event": "motion blur during lift",
   "forced_event": "arm occludes the brick in the top view",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1501875,
   "repo_id": "paszea/so100_whale_4",
   "episode_index": 57,
   "frame_index": 93,
   "instruction": "Grasp a whale and put it in the plate.",
   "gt_event": "arm still idle",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1502971,
   "repo_id": "paszea/so100_whale_4",
   "episode_index": 59,
   "frame_index": 581,
   "instruction": "Grasp a whale and put it in the plate.",
   "gt_event": "brick released inside the basket",
   "forced_event": "block released into the basket",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1505810,
   "repo_id": "paszea/so100_whale_grab",
   "episode_index": 45,
   "frame_index": 47,
   "instruction": "Grasp a whale and put it in the plate.",
   "gt_event": "arm idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1511687,
   "repo_id": "pierfabre/chicken",
   "episode_index": 29,
   "frame_index": 195,
   "instruction": "Pick the chicken and place it to the right.",
   "gt_event": "wrist camera overexposed / object occluded by gripper",
   "forced_event": "wrist view almost fully occluded by the held chicken",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1511832,
   "repo_id": "pierfabre/chicken",
   "episode_index": 29,
   "frame_index": 340,
   "instruction": "Pick the chicken and place it to the right.",
   "gt_event": "little visible change from previous sample (idle/hover)",
   "forced_event": "arm body occludes the chicken in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1512856,
   "repo_id": "pierfabre/chicken",
   "episode_index": 40,
   "frame_index": 292,
   "instruction": "Pick the chicken and place it to the right.",
   "gt_event": "arm body occludes the carried object in the external view",
   "forced_event": "wrist camera points away from the workspace",
   "gt_class": "occlusion",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1513002,
   "repo_id": "pierfabre/chicken",
   "episode_index": 40,
   "frame_index": 438,
   "instruction": "Pick the chicken and place it to the right.",
   "gt_event": "arm idle in rest pose",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1516462,
   "repo_id": "pierfabre/cow2",
   "episode_index": 24,
   "frame_index": 146,
   "instruction": "Pick the cow and place it to the right.",
   "gt_event": "wrist view heavily blurred by close-up object",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1516754,
   "repo_id": "pierfabre/cow2",
   "episode_index": 24,
   "frame_index": 438,
   "instruction": "Pick the cow and place it to the right.",
   "gt_event": "arm idle after task completion",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1517339,
   "repo_id": "pierfabre/cow2",
   "episode_index": 38,
   "frame_index": 487,
   "instruction": "Pick the cow and place it to the right.",
   "gt_event": "robot idle after completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1519582,
   "repo_id": "pierfabre/pig2",
   "episode_index": 12,
   "frame_index": 49,
   "instruction": "Pick the pig and place it to the right.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1525280,
   "repo_id": "pierfabre/rabbit",
   "episode_index": 1,
   "frame_index": 389,
   "instruction": "Pick the rabbit and place it to the right.",
   "gt_event": "wrist view heavily blurred/overexposed",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1529375,
   "repo_id": "pierfabre/sheep",
   "episode_index": 52,
   "frame_index": 195,
   "instruction": "Pick the sheep and place it to the right.",
   "gt_event": "camera B view heavily blurred by close-up object",
   "forced_event": "wrist camera points away from the workspace",
   "gt_class": "blur",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1530663,
   "repo_id": "pietroom/actualeasytask",
   "episode_index": 53,
   "frame_index": 50,
   "instruction": "Grasp the marker and put it in the plastic box.",
   "gt_event": "little to no motion between frames 1 and 51",
   "forced_event": "arm essentially idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1534850,
   "repo_id": "pietroom/first_task_short",
   "episode_index": 50,
   "frame_index": 349,
   "instruction": "Pick up the marker from the box.",
   "gt_event": "human hand closes around the marker for the handover",
   "forced_event": "human hand takes the marker from the gripper",
   "gt_class": "human",
   "forced_class": "human",
   "class_match": true
  },
  {
   "index": 1536744,
   "repo_id": "pietroom/first_task_short",
   "episode_index": 89,
   "frame_index": 448,
   "instruction": "Pick up the marker from the box.",
   "gt_event": "marker handed over to the person",
   "forced_event": "arm idle",
   "gt_class": "human",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1537792,
   "repo_id": "pietroom/holdthis",
   "episode_index": 35,
   "frame_index": 0,
   "instruction": "Hold the object steadily without releasing it.",
   "gt_event": "camera B very dark / underexposed",
   "forced_event": "arm still idle at start",
   "gt_class": "camera_view",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1538740,
   "repo_id": "pietroom/holdthis",
   "episode_index": 65,
   "frame_index": 50,
   "instruction": "Hold the object steadily without releasing it.",
   "gt_event": "operator's hand fills the wrist camera view",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "camera_view",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1539837,
   "repo_id": "pietroom/holdthis",
   "episode_index": 71,
   "frame_index": 249,
   "instruction": "Hold the object steadily without releasing it.",
   "gt_event": "wrist camera almost fully occluded by a hand",
   "forced_event": "gripper contacts the board edge",
   "gt_class": "occlusion",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 1539986,
   "repo_id": "pietroom/holdthis",
   "episode_index": 71,
   "frame_index": 398,
   "instruction": "Hold the object steadily without releasing it.",
   "gt_event": "wrist camera fully occluded by a hand",
   "forced_event": "human hand reaches into the frame, likely episode reset",
   "gt_class": "occlusion",
   "forced_class": "episode_marker",
   "class_match": false
  },
  {
   "index": 1541283,
   "repo_id": "ppankti81/record-blue",
   "episode_index": 4,
   "frame_index": 49,
   "instruction": "pick and place the blue ring",
   "gt_event": "arm essentially stationary at start",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1556759,
   "repo_id": "pranavsaroha/so100_legos4",
   "episode_index": 31,
   "frame_index": 1038,
   "instruction": "Pick up the LEGO block and place it in the bowl of the same color as the LEGO block.",
   "gt_event": "idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1560487,
   "repo_id": "pranavsaroha/so100_onelego3",
   "episode_index": 1,
   "frame_index": 444,
   "instruction": "Pick up the green LEGO block and place it in the green bowl.",
   "gt_event": "motion blur from fast retreat",
   "forced_event": "fast arm motion causes motion blur in camera A",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1562691,
   "repo_id": "pranavsaroha/so100_squishy",
   "episode_index": 24,
   "frame_index": 257,
   "instruction": "pick a squishy and put it in the bin",
   "gt_event": "motion blur in camera A during fast retract",
   "forced_event": "squishy released into the bin",
   "gt_class": "blur",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1564928,
   "repo_id": "pranavsaroha/so100_squishy100",
   "episode_index": 44,
   "frame_index": 48,
   "instruction": "pick a squishy and put it in the bin",
   "gt_event": "arm essentially stationary",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1595093,
   "repo_id": "rabhishek100/so100_train_dataset",
   "episode_index": 40,
   "frame_index": 909,
   "instruction": "picks tape and places it in a cup.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1597683,
   "repo_id": "rfruit/so100_building_house_2",
   "episode_index": 4,
   "frame_index": 556,
   "instruction": "Grasp some building blocks and build the house on the picture.",
   "gt_event": "build site partly occluded by the arm in the top view",
   "forced_event": "block occluded by the arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1599687,
   "repo_id": "rfruit/so100_building_house_4",
   "episode_index": 1,
   "frame_index": 792,
   "instruction": "Grasp some building blocks and build the house on the picture.",
   "gt_event": "idle stretch, frame nearly identical to previous",
   "forced_event": "block released on top of the stack",
   "gt_class": "idle",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1608634,
   "repo_id": "ricky0526/so101_pick_toy_to_plate_v4",
   "episode_index": 47,
   "frame_index": 52,
   "instruction": "Pick up the toy and place it on the plate",
   "gt_event": "arm essentially idle, nearly identical to first frame",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1608846,
   "repo_id": "ricky0526/so101_pick_toy_to_plate_v4",
   "episode_index": 53,
   "frame_index": 53,
   "instruction": "Pick up the toy and place it on the plate",
   "gt_event": "arm still idle at start pose",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1609889,
   "repo_id": "roboflavia/pen_dual0",
   "episode_index": 2,
   "frame_index": 49,
   "instruction": "Grab the pen and put it in the pen holder.",
   "gt_event": "robot idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1613646,
   "repo_id": "robotchip/squidgame1",
   "episode_index": 0,
   "frame_index": 99,
   "instruction": "Squid Game: color reactive pick and place",
   "gt_event": "phone screen turns red (color cue)",
   "forced_event": "arm idle",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1622007,
   "repo_id": "roboticshack/team-7-left-arm-grasp-motor",
   "episode_index": 30,
   "frame_index": 546,
   "instruction": "Grasp the black motor and put it in the box.",
   "gt_event": "idle",
   "forced_event": "arm idle at rest",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1622505,
   "repo_id": "roboticshack/team-7-left-arm-grasp-motor",
   "episode_index": 32,
   "frame_index": 447,
   "instruction": "Grasp the black motor and put it in the box.",
   "gt_event": "motor released on the white tray, not inside the red box",
   "forced_event": "motor released on the board",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1622904,
   "repo_id": "roboticshack/team-7-left-arm-grasp-motor",
   "episode_index": 36,
   "frame_index": 249,
   "instruction": "Grasp the black motor and put it in the box.",
   "gt_event": "gripper closing on the motor, object occluded by the arm",
   "forced_event": "motor occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1623751,
   "repo_id": "roboticshack/team-7-left-arm-grasp-motor",
   "episode_index": 39,
   "frame_index": 498,
   "instruction": "Grasp the black motor and put it in the box.",
   "gt_event": "motor released on the wooden board",
   "forced_event": "motor released on the board",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1626289,
   "repo_id": "roboticshack/team-7-left-arm-grasp-motor",
   "episode_index": 94,
   "frame_index": 50,
   "instruction": "Grasp the black motor and put it in the box.",
   "gt_event": "arm essentially stationary (idle start)",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1628576,
   "repo_id": "roboticshack/team-7-right-arm-grasp-tape",
   "episode_index": 15,
   "frame_index": 546,
   "instruction": "Grasp the tape and put it in the box.",
   "gt_event": "arm idle after task completion",
   "forced_event": "arm idle at rest pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1631860,
   "repo_id": "roboticshack/team-7-right-arm-grasp-tape",
   "episode_index": 84,
   "frame_index": 248,
   "instruction": "Grasp the tape and put it in the box.",
   "gt_event": "wrist view almost fully occluded by the tape roll",
   "forced_event": "wrist camera heavily motion-blurred",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1633344,
   "repo_id": "roboticshack/team10-red-block",
   "episode_index": 29,
   "frame_index": 60,
   "instruction": "Pick a red lego block and move it to the right.",
   "gt_event": "arm nearly stationary, little progress in first two seconds",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1633462,
   "repo_id": "roboticshack/team10-red-block",
   "episode_index": 29,
   "frame_index": 178,
   "instruction": "Pick a red lego block and move it to the right.",
   "gt_event": "block near the edge of camera B's field of view",
   "forced_event": "block occluded by the arm in the top view",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1634059,
   "repo_id": "roboticshack/team10-red-block",
   "episode_index": 56,
   "frame_index": 60,
   "instruction": "Pick a red lego block and move it to the right.",
   "gt_event": "arm essentially idle, scene unchanged from frame 1",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1634237,
   "repo_id": "roboticshack/team10-red-block",
   "episode_index": 56,
   "frame_index": 238,
   "instruction": "Pick a red lego block and move it to the right.",
   "gt_event": "block left at the table edge, partly out of camera B framing",
   "forced_event": "block released on the table, not inside the ring",
   "gt_class": "camera_view",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1640806,
   "repo_id": "roboticshack/team13-two-balls-stacking",
   "episode_index": 24,
   "frame_index": 51,
   "instruction": "Stack the balls on top of each other.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1643153,
   "repo_id": "roboticshack/team16-can-stacking",
   "episode_index": 23,
   "frame_index": 448,
   "instruction": "Grasp the flipped cup and stack it on top of the midpoint between the two other cups to create a tower",
   "gt_event": "arm essentially idle after task completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1644401,
   "repo_id": "roboticshack/team16-water-pouring",
   "episode_index": 3,
   "frame_index": 498,
   "instruction": "Pouring water from one cup to another cup",
   "gt_event": "arm and source cup partly outside camera A view",
   "forced_event": "wrist view heavily blurred/overexposed",
   "gt_class": "camera_view",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1646098,
   "repo_id": "roboticshack/team16-water-pouring",
   "episode_index": 27,
   "frame_index": 399,
   "instruction": "Pouring water from one cup to another cup",
   "gt_event": "cup released upright on the table",
   "forced_event": "camera B overexposed",
   "gt_class": "release_place",
   "forced_class": "camera_view",
   "class_match": false
  },
  {
   "index": 1647957,
   "repo_id": "roboticshack/team2-guess_who_less_ligth",
   "episode_index": 40,
   "frame_index": 235,
   "instruction": "Pick up the card and place it in the slot.",
   "gt_event": "arm returns to start with no tile manipulated",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1649778,
   "repo_id": "roboticshack/team2-guess_who_so100",
   "episode_index": 27,
   "frame_index": 198,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "one card flap appears raised near the gripper",
   "forced_event": "strong motion blur, board largely occluded",
   "gt_class": "other",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1650331,
   "repo_id": "roboticshack/team2-guess_who_so100",
   "episode_index": 47,
   "frame_index": 219,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "arm returns to home without any tile being manipulated",
   "forced_event": "arm essentially stationary",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1650768,
   "repo_id": "roboticshack/team2-guess_who_so100",
   "episode_index": 85,
   "frame_index": 195,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "arm returned to rest with no visible change to the board",
   "forced_event": "gripper now in front of the board, contact not visible",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1650933,
   "repo_id": "roboticshack/team2-guess_who_so100",
   "episode_index": 89,
   "frame_index": 164,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "board tile configuration differs from the opening frame; outcome of the press not clearly attributable",
   "forced_event": "arm essentially stationary",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1651170,
   "repo_id": "roboticshack/team2-guess_who_so100",
   "episode_index": 90,
   "frame_index": 236,
   "instruction": "Pick up the card from the shelf.",
   "gt_event": "arm retracted with no clear change to the board",
   "forced_event": "arm returns to start with no visible change to the board",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1652889,
   "repo_id": "roboticshack/team2-guess_who_so100_light",
   "episode_index": 76,
   "frame_index": 70,
   "instruction": "Place the card in the slot.",
   "gt_event": "motion blur during close approach to the board",
   "forced_event": "arm withdraws from the board, no visible change in the card state",
   "gt_class": "blur",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1653640,
   "repo_id": "roboticshack/team9-pick_chicken_place_plate",
   "episode_index": 35,
   "frame_index": 53,
   "instruction": "Pick up the chicken and place on orange plate",
   "gt_event": "little motion between the first two samples (idle start)",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1653745,
   "repo_id": "roboticshack/team9-pick_chicken_place_plate",
   "episode_index": 35,
   "frame_index": 158,
   "instruction": "Pick up the chicken and place on orange plate",
   "gt_event": "gripper and leader arm partly occlude the plate in camera B",
   "forced_event": "arm occludes the chicken in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1655115,
   "repo_id": "roboticshack/team9-pick_chicken_place_plate",
   "episode_index": 56,
   "frame_index": 209,
   "instruction": "Pick up the chicken and place on orange plate",
   "gt_event": "drumstick hidden behind the gripper",
   "forced_event": "arm occludes the plate in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1656553,
   "repo_id": "roboticshack/team_5-QuiEstCe_everyBox",
   "episode_index": 9,
   "frame_index": 50,
   "instruction": "play Qui est-ce ?.",
   "gt_event": "arm still idle",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1657228,
   "repo_id": "rohanc007/record-remove-debris",
   "episode_index": 23,
   "frame_index": 172,
   "instruction": "Pick the brown debris from the hole.",
   "gt_event": "debris occluded by gripper/arm while lifted",
   "forced_event": "debris lifted out of the hole",
   "gt_class": "occlusion",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1658018,
   "repo_id": "rohanc007/record-test4",
   "episode_index": 0,
   "frame_index": 427,
   "instruction": "Pick the lid with the red cross and place it on the side.",
   "gt_event": "little visible change - possible pause/regrasp adjustment",
   "forced_event": "gripper hovers on lid knob without closing",
   "gt_class": "grasp_pickup",
   "forced_class": "miss_fail",
   "class_match": false
  },
  {
   "index": 1661324,
   "repo_id": "ryanpennings/so100_pegcrate_c3",
   "episode_index": 5,
   "frame_index": 104,
   "instruction": "Grasp a peg and put it in the crate.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1661849,
   "repo_id": "ryanpennings/so100_pegcrate_c3",
   "episode_index": 46,
   "frame_index": 60,
   "instruction": "Grasp a peg and put it in the crate.",
   "gt_event": "little to no motion since start (idle stretch)",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1662029,
   "repo_id": "ryanpennings/so100_pegcrate_c3",
   "episode_index": 46,
   "frame_index": 240,
   "instruction": "Grasp a peg and put it in the crate.",
   "gt_event": "episode ends with peg in the crate but release not clearly visible",
   "forced_event": "peg released into the crate",
   "gt_class": "episode_marker",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1662078,
   "repo_id": "ryanpennings/so100_pegcrate_c3",
   "episode_index": 47,
   "frame_index": 48,
   "instruction": "Grasp a peg and put it in the crate.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1663465,
   "repo_id": "s20000s/soarm100_data",
   "episode_index": 37,
   "frame_index": 348,
   "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.",
   "gt_event": "arm appears nearly static, block held at plate edge",
   "forced_event": "arm body occludes the plate in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1664460,
   "repo_id": "s20000s/soarm100_data",
   "episode_index": 49,
   "frame_index": 447,
   "instruction": "Pick up the 2x2 green block and go up the 8x8 blue block.",
   "gt_event": "episode ends with the block at the plate edge, release not clearly shown",
   "forced_event": "arm appears stationary over the plate",
   "gt_class": "episode_marker",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1665304,
   "repo_id": "s20000s/soarm100_data",
   "episode_index": 53,
   "frame_index": 396,
   "instruction": "Pick up the 2x2 yellow block and go up the 8x8 blue block.",
   "gt_event": "arm idle, no motion since placement",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1669374,
   "repo_id": "s20000s/soarm100_data2",
   "episode_index": 44,
   "frame_index": 446,
   "instruction": "Pick up the 2x4 orange block and go up the 8x8 blue block.",
   "gt_event": "episode ends with arm still parked over the block",
   "forced_event": "arm idle over placed brick",
   "gt_class": "episode_marker",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1669821,
   "repo_id": "s20000s/soarm100_data2",
   "episode_index": 48,
   "frame_index": 446,
   "instruction": "Pick up the 2x4 orange block and go up the 8x8 blue block.",
   "gt_event": "arm idle over the plate",
   "forced_event": "arm idle over placed brick",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1670665,
   "repo_id": "s20000s/soarm100_data2",
   "episode_index": 58,
   "frame_index": 396,
   "instruction": "Pick up the 2x4 green block and go up the 8x8 blue block.",
   "gt_event": "arm idle after placement",
   "forced_event": "arm idle over the placed brick",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1673244,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 59,
   "frame_index": 50,
   "instruction": "gather the left side granules",
   "gt_event": "little to no motion between the first sampled frames (idle start)",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1674158,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 66,
   "frame_index": 52,
   "instruction": "gather the left side granules",
   "gt_event": "little to no motion between the first sampled frames",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1678798,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 219,
   "frame_index": 50,
   "instruction": "gather the right side granules",
   "gt_event": "arm essentially idle",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1679105,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 223,
   "frame_index": 55,
   "instruction": "gather the right side granules",
   "gt_event": "little to no motion between the first samples",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1679557,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 228,
   "frame_index": 175,
   "instruction": "gather the bottom side granules",
   "gt_event": "stray bottom granule pushed into the cluster",
   "forced_event": "arm partially occludes the bottom edge of camera B",
   "gt_class": "contact_collision",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1680013,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 276,
   "frame_index": 50,
   "instruction": "push granules from left to the grey container",
   "gt_event": "little to no motion between the first sampled frames",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1682723,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 343,
   "frame_index": 56,
   "instruction": "push granules from bottom to the grey container",
   "gt_event": "little to no arm motion between the first two samples",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1683381,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 361,
   "frame_index": 180,
   "instruction": "push granules from bottom to the grey container",
   "gt_event": "arm partially occludes the board in camera B",
   "forced_event": "gripper contacts the granule",
   "gt_class": "occlusion",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 1683834,
   "repo_id": "samanthalhy/so100_herding_2",
   "episode_index": 364,
   "frame_index": 161,
   "instruction": "push granules from bottom to the grey container",
   "gt_event": "arm partially occludes the board in camera B",
   "forced_event": "arm body occludes the granule in camera B",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1685929,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 88,
   "frame_index": 49,
   "instruction": "gather the bottom side granules",
   "gt_event": "little motion between first sampled frames",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1689023,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 151,
   "frame_index": 48,
   "instruction": "gather the right side granules",
   "gt_event": "arm essentially stationary",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1691259,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 251,
   "frame_index": 347,
   "instruction": "push granules from left to the grey container",
   "gt_event": "camera B largely blocked by the arm",
   "forced_event": "tool lifted away, no visible change in granule position",
   "gt_class": "occlusion",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1693269,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 286,
   "frame_index": 49,
   "instruction": "push granules from right to the grey container",
   "gt_event": "arm essentially stationary at start",
   "forced_event": "arm idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1694188,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 307,
   "frame_index": 100,
   "instruction": "push granules from right to the grey container",
   "gt_event": "tool swung far off the board, granules untouched",
   "forced_event": "arm partially occludes the right side of the board in camera B",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1694709,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 324,
   "frame_index": 58,
   "instruction": "push granules from bottom to the grey container",
   "gt_event": "arm essentially idle, no visible change from frame 1",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1695497,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 343,
   "frame_index": 56,
   "instruction": "push granules from bottom to the grey container",
   "gt_event": "little to no motion between the first two samples",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1695891,
   "repo_id": "samanthalhy/so100_herding_3",
   "episode_index": 345,
   "frame_index": 223,
   "instruction": "push granules from bottom to the grey container",
   "gt_event": "one granule delivered into the grey container, remainder still on the board",
   "forced_event": "arm retracts with the granules still in their initial configuration",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1708290,
   "repo_id": "samsam0510/cube_reorientation_2",
   "episode_index": 175,
   "frame_index": 496,
   "instruction": "Rotate the object so it aligns with the silhouette on the table.",
   "gt_event": "arm partly occludes the block in the top view",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1711676,
   "repo_id": "samsam0510/cube_reorientation_4",
   "episode_index": 86,
   "frame_index": 146,
   "instruction": "Rotate the object so it aligns with respect to the line on the table.",
   "gt_event": "object contacted/pushed with a fixed (non-actuating) gripper",
   "forced_event": "wrist view heavily motion-blurred",
   "gt_class": "contact_collision",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 1712720,
   "repo_id": "samsam0510/cube_reorientation_4",
   "episode_index": 88,
   "frame_index": 99,
   "instruction": "Rotate the object so it aligns with respect to the line on the table.",
   "gt_event": "arm partially occludes the block in camera A",
   "forced_event": "arm and card largely occluded by the wrist camera",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1718433,
   "repo_id": "samsam0510/tape_insert_1",
   "episode_index": 33,
   "frame_index": 98,
   "instruction": "Grasp a red tape and put it on the box.",
   "gt_event": "arm body occludes the tape in the overhead view",
   "forced_event": "red tape hidden behind the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1721376,
   "repo_id": "samsam0510/tape_insert_2",
   "episode_index": 19,
   "frame_index": 176,
   "instruction": "Grasp a red tape and put it in the yellow tape.",
   "gt_event": "red tape leaves the camera view and is not placed on the yellow tape",
   "forced_event": "arm retreats without having grasped or moved the tape",
   "gt_class": "occlusion",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1721434,
   "repo_id": "samsam0510/tape_insert_2",
   "episode_index": 19,
   "frame_index": 234,
   "instruction": "Grasp a red tape and put it in the yellow tape.",
   "gt_event": "episode ends with yellow tape untouched and red tape out of view",
   "forced_event": "arm returns home with no tape moved",
   "gt_class": "episode_marker",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1723420,
   "repo_id": "samsam0510/tape_insert_2",
   "episode_index": 72,
   "frame_index": 223,
   "instruction": "Grasp a red tape and put it in the yellow tape.",
   "gt_event": "tape released outside the visible workspace; placement on the yellow tape not verifiable",
   "forced_event": "red tape released onto the yellow tape",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1729691,
   "repo_id": "samsam0510/tooth_extraction_4",
   "episode_index": 22,
   "frame_index": 348,
   "instruction": "Extarct the molar and put it somewhere.",
   "gt_event": "tooth appears freed from the socket",
   "forced_event": "wrist camera very close to the jaw model, view largely occluded",
   "gt_class": "other",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1731722,
   "repo_id": "samsam0510/tooth_extraction_4",
   "episode_index": 90,
   "frame_index": 158,
   "instruction": "Extarct the molar and put it somewhere.",
   "gt_event": "motion blur during rapid pull-out",
   "forced_event": "tooth carried out of the camera view",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1733419,
   "repo_id": "samsam0510/tooth_extraction_4",
   "episode_index": 127,
   "frame_index": 406,
   "instruction": "Extarct the molar and put it somewhere.",
   "gt_event": "tooth carried over the tape roll for release",
   "forced_event": "tooth released into the tape roll",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1734625,
   "repo_id": "samsam0510/tooth_extraction_4",
   "episode_index": 148,
   "frame_index": 292,
   "instruction": "Extarct the molar and put it somewhere.",
   "gt_event": "tooth pulled out, empty socket visible",
   "forced_event": "tooth pulled out of the socket",
   "gt_class": "grasp_pickup",
   "forced_class": "grasp_pickup",
   "class_match": true
  },
  {
   "index": 1756182,
   "repo_id": "sattgle/clean2-test",
   "episode_index": 25,
   "frame_index": 660,
   "instruction": "Put the grey slippers on the bottom shelf and the white ones on the top shelf.",
   "gt_event": "motion blur during fast transport",
   "forced_event": "fast motion causes heavy motion blur",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1767734,
   "repo_id": "sergiov2000/so100_lego_leader_40",
   "episode_index": 28,
   "frame_index": 660,
   "instruction": "Pick the red lego block and put it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1770540,
   "repo_id": "sergiov2000/test_red_50_episodes",
   "episode_index": 17,
   "frame_index": 815,
   "instruction": "Pick the red lego block and put it in the box.",
   "gt_event": "robot idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1773733,
   "repo_id": "sergiov2000/test_yellow_50_episodes",
   "episode_index": 3,
   "frame_index": 570,
   "instruction": "Pick the yellow lego block and put it in the box.",
   "gt_event": "arm idle after completion",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1774687,
   "repo_id": "sergiov2000/test_yellow_50_episodes",
   "episode_index": 21,
   "frame_index": 668,
   "instruction": "Pick the yellow lego block and put it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1775499,
   "repo_id": "sergiov2000/test_yellow_50_episodes",
   "episode_index": 23,
   "frame_index": 620,
   "instruction": "Pick the yellow lego block and put it in the box.",
   "gt_event": "arm idle at home",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1775690,
   "repo_id": "sergiov2000/test_yellow_50_episodes",
   "episode_index": 23,
   "frame_index": 811,
   "instruction": "Pick the yellow lego block and put it in the box.",
   "gt_event": "arm idle at home",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1776216,
   "repo_id": "sergiov2000/test_yellow_50_episodes",
   "episode_index": 26,
   "frame_index": 477,
   "instruction": "Pick the yellow lego block and put it in the box.",
   "gt_event": "brick released inside the box",
   "forced_event": "block released into the box",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1779104,
   "repo_id": "sergiov2000/yellow_20_episodes",
   "episode_index": 11,
   "frame_index": 802,
   "instruction": "Pick the yellow lego block and put it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1780801,
   "repo_id": "shawntan72/pick_and_place_pill_bottle_1",
   "episode_index": 33,
   "frame_index": 753,
   "instruction": "Pick up the pill bottle and place it in the black box.",
   "gt_event": "robot idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1782591,
   "repo_id": "shawntan72/pick_and_place_pill_bottle_1",
   "episode_index": 45,
   "frame_index": 753,
   "instruction": "Pick up the pill bottle and place it in the black box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1782685,
   "repo_id": "shawntan72/pick_and_place_pill_bottle_1",
   "episode_index": 45,
   "frame_index": 847,
   "instruction": "Pick up the pill bottle and place it in the black box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1783345,
   "repo_id": "shawntan72/pick_and_place_pill_bottle_1",
   "episode_index": 46,
   "frame_index": 612,
   "instruction": "Pick up the pill bottle and place it in the black box.",
   "gt_event": "arm idle at rest",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1785854,
   "repo_id": "shin1107/koch_base_episodes",
   "episode_index": 25,
   "frame_index": 104,
   "instruction": "Base task (160 scenes)",
   "gt_event": "block partly occluded by the arm in the top view",
   "forced_event": "block occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1787751,
   "repo_id": "shin1107/koch_base_episodes",
   "episode_index": 110,
   "frame_index": 112,
   "instruction": "Base task (160 scenes)",
   "gt_event": "block partly occluded by the arm in the top view",
   "forced_event": "block occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1791091,
   "repo_id": "shin1107/koch_new",
   "episode_index": 57,
   "frame_index": 150,
   "instruction": "put the octagonal pillar block into the corresponding hole",
   "gt_event": "block partly occluded by arm in top view",
   "forced_event": "block occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1793699,
   "repo_id": "shin1107/koch_new",
   "episode_index": 96,
   "frame_index": 101,
   "instruction": "put the octagonal pillar block into the corresponding hole",
   "gt_event": "block momentarily occluded by the arm in the top view",
   "forced_event": "arm occludes the block in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1795066,
   "repo_id": "shin1107/koch_new",
   "episode_index": 137,
   "frame_index": 106,
   "instruction": "put the octagonal pillar block into the corresponding hole",
   "gt_event": "block occluded by arm in top view",
   "forced_event": "block occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1801735,
   "repo_id": "shreyasgite/so100_base_env",
   "episode_index": 4,
   "frame_index": 48,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm still nearly idle at start",
   "forced_event": "arm partially occludes the workspace in camera A",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1804097,
   "repo_id": "shreyasgite/so100_base_env",
   "episode_index": 86,
   "frame_index": 272,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released into the bin",
   "forced_event": "block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1804637,
   "repo_id": "shreyasgite/so100_base_env",
   "episode_index": 92,
   "frame_index": 52,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm still idle at start pose",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1805811,
   "repo_id": "shreyasgite/so100_base_env",
   "episode_index": 108,
   "frame_index": 50,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1823111,
   "repo_id": "shuohsuan/grasp_data_050_059",
   "episode_index": 6,
   "frame_index": 50,
   "instruction": "grasp the red cube",
   "gt_event": "little to no motion between the first sampled frames",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1825898,
   "repo_id": "shuohsuan/grasp_data_090_099",
   "episode_index": 3,
   "frame_index": 47,
   "instruction": "grasp the red cube",
   "gt_event": "arm idle at start",
   "forced_event": "arm idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1848595,
   "repo_id": "shuohsuan/grasp_data_410_419",
   "episode_index": 8,
   "frame_index": 505,
   "instruction": "grasp the red cube",
   "gt_event": "cube released into the bin",
   "forced_event": "cube released into the container",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1854057,
   "repo_id": "shuohsuan/grasp_data_490_499",
   "episode_index": 2,
   "frame_index": 653,
   "instruction": "grasp the red cube",
   "gt_event": "cube released into the bin",
   "forced_event": "cube released into the container",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1857640,
   "repo_id": "shuohsuan/grasp_data_tg_50",
   "episode_index": 1,
   "frame_index": 50,
   "instruction": "Pick up the cube and place it in the box.",
   "gt_event": "little to no motion between frames 1 and 51",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1861549,
   "repo_id": "shylee/so100_cup",
   "episode_index": 70,
   "frame_index": 100,
   "instruction": "Grasp a dressing and put it in the cup.",
   "gt_event": "dressing occluded by the arm as it reaches over it",
   "forced_event": "dressing occluded by the arm in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1862346,
   "repo_id": "shylee/so100_cup",
   "episode_index": 81,
   "frame_index": 120,
   "instruction": "Grasp a dressing and put it in the cup.",
   "gt_event": "bottle occluded by arm after grasp",
   "forced_event": "arm body occludes the cup in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1862645,
   "repo_id": "shylee/so100_cup",
   "episode_index": 90,
   "frame_index": 179,
   "instruction": "Grasp a dressing and put it in the cup.",
   "gt_event": "robot arm largely out of the top camera frame",
   "forced_event": "dressing occluded by the arm",
   "gt_class": "camera_view",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1862826,
   "repo_id": "shylee/so100_cup",
   "episode_index": 95,
   "frame_index": 120,
   "instruction": "Grasp a dressing and put it in the cup.",
   "gt_event": "object occluded by gripper/arm",
   "forced_event": "arm body occludes the dressing in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1866705,
   "repo_id": "sid003/something2",
   "episode_index": 4,
   "frame_index": 0,
   "instruction": "Pick and place the block",
   "gt_event": "camera points at ceiling; workspace not visible",
   "forced_event": "no visible task object in scene",
   "gt_class": "camera_view",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1880171,
   "repo_id": "sihyun77/sihyun_king",
   "episode_index": 0,
   "frame_index": 1112,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1880245,
   "repo_id": "sihyun77/sihyun_king",
   "episode_index": 0,
   "frame_index": 1186,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1885655,
   "repo_id": "sihyun77/sihyun_main_2",
   "episode_index": 9,
   "frame_index": 242,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "fast sweep causes motion blur",
   "forced_event": "motion blur from fast arm movement",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1886479,
   "repo_id": "sihyun77/sihyun_main_2",
   "episode_index": 27,
   "frame_index": 484,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1888323,
   "repo_id": "sihyun77/sihyun_main_2",
   "episode_index": 48,
   "frame_index": 581,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1892736,
   "repo_id": "sihyun77/suho_3_17_3",
   "episode_index": 6,
   "frame_index": 48,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm stationary, idle start",
   "forced_event": "arm still idle at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1893260,
   "repo_id": "sihyun77/suho_3_17_3",
   "episode_index": 6,
   "frame_index": 572,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released over the bin",
   "forced_event": "block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1896735,
   "repo_id": "sihyun77/suho_angel",
   "episode_index": 22,
   "frame_index": 49,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm still at start pose (idle)",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1907694,
   "repo_id": "sihyun77/suho_so100",
   "episode_index": 47,
   "frame_index": 336,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block released into the bin",
   "forced_event": "block released into the bin",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1931834,
   "repo_id": "sixpigs1/so100_insert_cylinder_error",
   "episode_index": 1,
   "frame_index": 57,
   "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.",
   "gt_event": "gripper approaches the cylinder offset to the side",
   "forced_event": "cylinder still lies on the mat, gripper never closes",
   "gt_class": "other",
   "forced_class": "miss_fail",
   "class_match": false
  },
  {
   "index": 1931891,
   "repo_id": "sixpigs1/so100_insert_cylinder_error",
   "episode_index": 1,
   "frame_index": 114,
   "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.",
   "gt_event": "grasp missed the cylinder, gripper lifts empty",
   "forced_event": "arm withdraws without the cylinder",
   "gt_class": "miss_fail",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 1932125,
   "repo_id": "sixpigs1/so100_insert_cylinder_error",
   "episode_index": 2,
   "frame_index": 120,
   "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.",
   "gt_event": "grasp missed; arm retreats empty-handed with cylinder still on the mat",
   "forced_event": "arm reaches the cylinder but the grasp attempt fails, cylinder remains on the mat",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 1932345,
   "repo_id": "sixpigs1/so100_insert_cylinder_error",
   "episode_index": 9,
   "frame_index": 99,
   "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.",
   "gt_event": "gripper passes over/left of the cylinder without grasping it",
   "forced_event": "gripper reaches the cylinder but does not close on it",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 1932729,
   "repo_id": "sixpigs1/so100_insert_cylinder_error",
   "episode_index": 16,
   "frame_index": 235,
   "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.",
   "gt_event": "arm back at home pose, scene unchanged from start",
   "forced_event": "arm essentially stationary",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1934145,
   "repo_id": "sixpigs1/so100_insert_cylinder_error",
   "episode_index": 86,
   "frame_index": 114,
   "instruction": "Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with choice error when inserting.",
   "gt_event": "cylinder lifted high, partially out of camera B frame",
   "forced_event": "cylinder lifted high, partly out of camera A's frame",
   "gt_class": "grasp_pickup",
   "forced_class": "grasp_pickup",
   "class_match": true
  },
  {
   "index": 1935230,
   "repo_id": "sixpigs1/so100_pick_cube_in_box",
   "episode_index": 13,
   "frame_index": 54,
   "instruction": "Pick up the red cube and put it in the box.",
   "gt_event": "little to no motion between frames 1 and 55",
   "forced_event": "arm essentially idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1935932,
   "repo_id": "sixpigs1/so100_pick_cube_in_box",
   "episode_index": 40,
   "frame_index": 58,
   "instruction": "Pick up the red cube and put it in the box.",
   "gt_event": "little motion between frames 1 and 59 (slow start)",
   "forced_event": "arm partially occludes the cube in the top view",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1936107,
   "repo_id": "sixpigs1/so100_pick_cube_in_box",
   "episode_index": 40,
   "frame_index": 233,
   "instruction": "Pick up the red cube and put it in the box.",
   "gt_event": "cube released at the box rim, unclear whether it settles fully inside",
   "forced_event": "arm idle at rest pose",
   "gt_class": "release_place",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1938135,
   "repo_id": "sixpigs1/so100_pick_cube_in_box_error",
   "episode_index": 25,
   "frame_index": 278,
   "instruction": "Pick up the red cube and put it in the box with gripper error when grasping.",
   "gt_event": "arm retracts with cube still outside the box",
   "forced_event": "arm returns to rest with the cube still on the mat",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1939842,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 13,
   "frame_index": 55,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when grasping.",
   "gt_event": "arm lifts away from the tool without grasping",
   "forced_event": "arm reaches the tool but does not close the gripper",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 1940008,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 13,
   "frame_index": 221,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when grasping.",
   "gt_event": "episode ends with tool and cube untouched",
   "forced_event": "gripper lowered onto the tool with a lateral offset",
   "gt_class": "episode_marker",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1940805,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 49,
   "frame_index": 111,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with gripper error when grasping.",
   "gt_event": "grasp attempt failed, gripper lifts away empty",
   "forced_event": "gripper closes on the tool but does not secure it",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 1941342,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 64,
   "frame_index": 219,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with position offset when lowering.",
   "gt_event": "pull stroke completed but the cube is untouched",
   "forced_event": "tool lifted and held, partly out of camera A view",
   "gt_class": "other",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1941796,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 95,
   "frame_index": 152,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with rotation offset when lowering.",
   "gt_event": "tool lowered with a rotation offset, misaligned with the cube",
   "forced_event": "tool lowered with a rotation offset, purple cube not directly in the gripper",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1942658,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 135,
   "frame_index": 153,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool with gripper error when pulling.",
   "gt_event": "tool released early by the gripper (intended error)",
   "forced_event": "tool released mid-pull, purple cube not pulled",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1943131,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 148,
   "frame_index": 218,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool without errors.",
   "gt_event": "cube ends up alongside rather than snug inside the tool hook",
   "forced_event": "tool and cube are pulled back, cube never grasped",
   "gt_class": "other",
   "forced_class": "grasp_pickup",
   "class_match": false
  },
  {
   "index": 1943185,
   "repo_id": "sixpigs1/so100_pull_cube_by_tool_error",
   "episode_index": 148,
   "frame_index": 272,
   "instruction": "Pick up the L-shaped tool and pull the purple cube by the tool without errors.",
   "gt_event": "tool released, arm retreats to home pose",
   "forced_event": "tool released back on the mat, cube still in its original position",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1944036,
   "repo_id": "sixpigs1/so100_pull_cube_error",
   "episode_index": 14,
   "frame_index": 198,
   "instruction": "Pull the yellow cube to the red and white target with position offset when reaching.",
   "gt_event": "cube left untouched at its start position",
   "forced_event": "arm reaches the cube with a lateral offset, no contact",
   "gt_class": "other",
   "forced_class": "contact_collision",
   "class_match": false
  },
  {
   "index": 1944348,
   "repo_id": "sixpigs1/so100_pull_cube_error",
   "episode_index": 26,
   "frame_index": 99,
   "instruction": "Pull the yellow cube to the red and white target with position offset when pulling.",
   "gt_event": "gripper contacts the cube off-center",
   "forced_event": "gripper contacts cube but does not grip it",
   "gt_class": "contact_collision",
   "forced_class": "miss_fail",
   "class_match": false
  },
  {
   "index": 1945484,
   "repo_id": "sixpigs1/so100_push_cube_error",
   "episode_index": 27,
   "frame_index": 186,
   "instruction": "Push the blue cube to the red and white target with position offset when pushing.",
   "gt_event": "arm retreats with the cube still off the target",
   "forced_event": "arm retracts with cube still off-target",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1947763,
   "repo_id": "sixpigs1/so100_stack_cube_error",
   "episode_index": 45,
   "frame_index": 106,
   "instruction": "Pick up the red cube and stack it on the green cube with position offset when stacking.",
   "gt_event": "red cube largely occluded by the arm in the top view",
   "forced_event": "red cube occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1948847,
   "repo_id": "sixpigs1/so100_stack_cube_error",
   "episode_index": 76,
   "frame_index": 122,
   "instruction": "Pick up the red cube and stack it on the green cube without errors",
   "gt_event": "red cube largely occluded by the arm in the top view",
   "forced_event": "red cube occluded by the arm in the top view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1949020,
   "repo_id": "siyavash/so101_test",
   "episode_index": 4,
   "frame_index": 50,
   "instruction": "Grasp a servo box and put it on the zirlivani.",
   "gt_event": "motion blur in wrist view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1949963,
   "repo_id": "siyavash/so101_test",
   "episode_index": 26,
   "frame_index": 99,
   "instruction": "Grasp a servo box and put it on the zirlivani.",
   "gt_event": "motion blur in both views",
   "forced_event": "strong motion blur in wrist view",
   "gt_class": "blur",
   "forced_class": "blur",
   "class_match": true
  },
  {
   "index": 1956421,
   "repo_id": "slowturtle99/so100_pick_place",
   "episode_index": 112,
   "frame_index": 175,
   "instruction": "Pick a white block and place it in the black box.",
   "gt_event": "motion blur from fast arm movement",
   "forced_event": "block occluded by the arm while being carried",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1961267,
   "repo_id": "slowturtle99/so100_test",
   "episode_index": 32,
   "frame_index": 54,
   "instruction": "Grasp a block and put it in the bin.",
   "gt_event": "block appears on the table (scene setup between samples)",
   "forced_event": "block now lies on the table (placed off-camera)",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1961539,
   "repo_id": "slowturtle99/so100_test",
   "episode_index": 43,
   "frame_index": 0,
   "instruction": "Grasp a block and put it in the bin.",
   "gt_event": "task block not yet present in the scene",
   "forced_event": "block released into the cup",
   "gt_class": "other",
   "forced_class": "release_place",
   "class_match": false
  },
  {
   "index": 1961798,
   "repo_id": "slowturtle99/so100_test",
   "episode_index": 43,
   "frame_index": 259,
   "instruction": "Grasp a block and put it in the bin.",
   "gt_event": "gripper empty, block no longer on table (release into cup not directly visible)",
   "forced_event": "block released into the cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 1962584,
   "repo_id": "slowturtle99/so100_test",
   "episode_index": 54,
   "frame_index": 94,
   "instruction": "Grasp a block and put it in the bin.",
   "gt_event": "block appears on the table (placed off-camera)",
   "forced_event": "arm essentially stationary",
   "gt_class": "release_place",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 1965648,
   "repo_id": "speedyyoshi/so100_grasp_pink_block",
   "episode_index": 22,
   "frame_index": 868,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1966224,
   "repo_id": "speedyyoshi/so100_grasp_pink_block",
   "episode_index": 26,
   "frame_index": 575,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1967826,
   "repo_id": "sshh11/so100_orange_50ep_1",
   "episode_index": 26,
   "frame_index": 148,
   "instruction": "Grasp an orange object and put it in the bin.",
   "gt_event": "motion blur from fast transport",
   "forced_event": "arm and object partly out of frame",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1970116,
   "repo_id": "sshh11/so100_orange_50ep_2",
   "episode_index": 41,
   "frame_index": 50,
   "instruction": "Grasp an orange object and put it in the bin.",
   "gt_event": "arm still idle at start",
   "forced_event": "arm partially occludes the orange object",
   "gt_class": "idle",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1971464,
   "repo_id": "stsqitx/clean2",
   "episode_index": 7,
   "frame_index": 199,
   "instruction": "Grab the sponge and clean dirty",
   "gt_event": "sponge briefly hidden behind the arm in camera A",
   "forced_event": "sponge occludes the spill in camera A",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1972737,
   "repo_id": "swarajgosavi/act_kikobot_pusht_real",
   "episode_index": 24,
   "frame_index": 152,
   "instruction": "picks up the red block.",
   "gt_event": "arm body largely occludes the block in camera A",
   "forced_event": "arm body occludes the block in camera B",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1975780,
   "repo_id": "taiobot/so101_test8",
   "episode_index": 27,
   "frame_index": 99,
   "instruction": "Grasp a nut  and put it in the bin.",
   "gt_event": "wrist view heavily motion-blurred",
   "forced_event": "arm partially occludes the workspace in camera A",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 1982728,
   "repo_id": "tenkau/so101_block_stack_kanzenrikai",
   "episode_index": 5,
   "frame_index": 801,
   "instruction": "Stack the 3 blocks",
   "gt_event": "arm idle after completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 1986690,
   "repo_id": "thedevansh/mar16_1336",
   "episode_index": 31,
   "frame_index": 102,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "block occluded by the gripper body",
   "forced_event": "block occluded by the arm",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1993038,
   "repo_id": "tim19970907/so100_test_0616_2",
   "episode_index": 14,
   "frame_index": 500,
   "instruction": "turn the button of vending machine.",
   "gt_event": "capsule ball dispensed into tray",
   "forced_event": "capsule dispensed into tray",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 1994202,
   "repo_id": "tkc79/so100_lego_box_1",
   "episode_index": 34,
   "frame_index": 149,
   "instruction": "Grasp a lego block and put it in the box.",
   "gt_event": "wrist view almost entirely occluded by the block/box interior",
   "forced_event": "block occluded by the arm in the overhead view",
   "gt_class": "occlusion",
   "forced_class": "occlusion",
   "class_match": true
  },
  {
   "index": 1995849,
   "repo_id": "tkc79/so100_lego_box_1",
   "episode_index": 63,
   "frame_index": 0,
   "instruction": "Grasp a lego block and put it in the box.",
   "gt_event": "episode starts with block apparently already grasped",
   "forced_event": "block occluded by the arm in the overhead view",
   "gt_class": "episode_marker",
   "forced_class": "occlusion",
   "class_match": false
  },
  {
   "index": 2017301,
   "repo_id": "vladfatu/so100_office",
   "episode_index": 5,
   "frame_index": 448,
   "instruction": "Pick up the red object and place it in the box.",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2018596,
   "repo_id": "vladfatu/so100_office",
   "episode_index": 22,
   "frame_index": 547,
   "instruction": "Pick up the red object and place it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2019095,
   "repo_id": "vladfatu/so100_office",
   "episode_index": 23,
   "frame_index": 448,
   "instruction": "Pick up the red object and place it in the box.",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2026588,
   "repo_id": "weiye11/so100_423_pick",
   "episode_index": 14,
   "frame_index": 208,
   "instruction": "Grasp the colored block, Place it on the black dot, and then return the arm to the default position.",
   "gt_event": "block occluded by the arm in the overhead view",
   "forced_event": "motion blur in wrist view",
   "gt_class": "occlusion",
   "forced_class": "blur",
   "class_match": false
  },
  {
   "index": 2029372,
   "repo_id": "willnorris/bbox-2",
   "episode_index": 0,
   "frame_index": 49,
   "instruction": "pick the item and place it in the box",
   "gt_event": "no motion between frames 1 and 50 (idle start)",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2030105,
   "repo_id": "willnorris/bbox-2",
   "episode_index": 5,
   "frame_index": 51,
   "instruction": "pick the item and place it in the box",
   "gt_event": "arm essentially stationary at start",
   "forced_event": "arm retracts to home with no object visible on the table",
   "gt_class": "idle",
   "forced_class": "other",
   "class_match": false
  },
  {
   "index": 2036899,
   "repo_id": "woveinfluency/record-eyedrops-50-ep",
   "episode_index": 17,
   "frame_index": 53,
   "instruction": "Grab the eyedrops",
   "gt_event": "little to no motion between the first sampled frames (idle start)",
   "forced_event": "no motion (idle)",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2037162,
   "repo_id": "woveinfluency/record-eyedrops-50-ep",
   "episode_index": 18,
   "frame_index": 49,
   "instruction": "Grab the eyedrops",
   "gt_event": "no visible motion since start (idle)",
   "forced_event": "little to no motion between the first sampled frames",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2040468,
   "repo_id": "xhaka3456/Pick_Place",
   "episode_index": 59,
   "frame_index": 297,
   "instruction": "Pick and Place.",
   "gt_event": "cup righted with sponge inside",
   "forced_event": "arm idle",
   "gt_class": "other",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 2042693,
   "repo_id": "xhaka3456/Pick_Place",
   "episode_index": 98,
   "frame_index": 289,
   "instruction": "Pick and Place.",
   "gt_event": "sponge released into the cup",
   "forced_event": "sponge released into the white cup",
   "gt_class": "release_place",
   "forced_class": "release_place",
   "class_match": true
  },
  {
   "index": 2044151,
   "repo_id": "xhaka3456/Pick_Place",
   "episode_index": 119,
   "frame_index": 432,
   "instruction": "Pick and Place.",
   "gt_event": "cup left lying on its side",
   "forced_event": "arm withdraws with the block still on the table",
   "gt_class": "other",
   "forced_class": "other",
   "class_match": true
  },
  {
   "index": 2048437,
   "repo_id": "yangfengzzz/pick_usb_to_bin",
   "episode_index": 5,
   "frame_index": 623,
   "instruction": "Grab the usb to bin",
   "gt_event": "robot idle after task completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2048628,
   "repo_id": "yangfengzzz/pick_usb_to_bin",
   "episode_index": 5,
   "frame_index": 814,
   "instruction": "Grab the usb to bin",
   "gt_event": "robot idle after task completion",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2049148,
   "repo_id": "yangfengzzz/pick_usb_to_bin",
   "episode_index": 27,
   "frame_index": 471,
   "instruction": "Grab the usb to bin",
   "gt_event": "arm idle",
   "forced_event": "arm idle",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2050044,
   "repo_id": "yangfengzzz/pick_usb_to_bin",
   "episode_index": 38,
   "frame_index": 471,
   "instruction": "Grab the usb to bin",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2050232,
   "repo_id": "yangfengzzz/pick_usb_to_bin",
   "episode_index": 38,
   "frame_index": 659,
   "instruction": "Grab the usb to bin",
   "gt_event": "arm idle",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2069285,
   "repo_id": "yuk6ra/so101-tapes-cleanup",
   "episode_index": 12,
   "frame_index": 395,
   "instruction": "Grab tapes and place into box",
   "gt_event": "arm idle at home pose",
   "forced_event": "arm idle at home pose",
   "gt_class": "idle",
   "forced_class": "idle",
   "class_match": true
  },
  {
   "index": 2074846,
   "repo_id": "yuz1wan/so100_pour_cup",
   "episode_index": 6,
   "frame_index": 149,
   "instruction": "Pick the paper cup and pour sth out.",
   "gt_event": "end-effector contacts the green block without grasping",
   "forced_event": "gripper hovering over the block, no grasp",
   "gt_class": "miss_fail",
   "forced_class": "miss_fail",
   "class_match": true
  },
  {
   "index": 2081698,
   "repo_id": "zaringleb/so100_cude_linear_and_2d_comb",
   "episode_index": 74,
   "frame_index": 0,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "blurred human arm/body at right edge of frame",
   "forced_event": "arm essentially stationary at start",
   "gt_class": "human",
   "forced_class": "idle",
   "class_match": false
  },
  {
   "index": 2081859,
   "repo_id": "zaringleb/so100_cude_linear_and_2d_comb",
   "episode_index": 74,
   "frame_index": 161,
   "instruction": "Grasp a lego block and put it in the bin.",
   "gt_event": "motion blur on the moving arm",
   "forced_event": "cube occluded by the arm",
   "gt_class": "blur",
   "forced_class": "occlusion",
   "class_match": false
  }
 ]
}