Upload policy weights, train config and readme

README.md

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+---
+base_model: lerobot/smolvla_base
+datasets: godnpeter/aopoli-lv-libero_combined_no_noops_lerobot_v21
+library_name: lerobot
+license: apache-2.0
+model_name: smolvla
+pipeline_tag: robotics
+tags:
+- smolvla
+- robotics
+- lerobot
+---
+
+# Model Card for smolvla
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+[SmolVLA](https://huggingface.co/papers/2506.01844) is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

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+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.images.wrist_image": {
+            "type": "VISUAL",
+            "shape": [
+                256,
+                256,
+                3
+            ]
+        },
+        "observation.images.image": {
+            "type": "VISUAL",
+            "shape": [
+                256,
+                256,
+                3
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                7
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "combined_frozen_chunk8_yesproprio_diversified_text_prompt_1010",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "use_proprio": true,
+    "chunk_size": 8,
+    "n_action_steps": 8,
+    "normalize_visual": "identity",
+    "normalize_state": "mean_std",
+    "normalize_action": "mean_std",
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "vlm_model_dtype": "bfloat16",
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": -1,
+    "pad_language_to": "longest",
+    "num_expert_layers": -1,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:78ed39aba4ccbf34f6ccae3ee1813d8b737e9f9b5ac378d45614df62bc19987c
+size 906713328

train_config.json

@@ -0,0 +1,1121 @@
+{
+    "dataset": {
+        "repo_id": "godnpeter/aopoli-lv-libero_combined_no_noops_lerobot_v21",
+        "use_all_local_repos": false,
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "shift": {
+                    "weight": 0.0,
+                    "type": "RandomShift",
+                    "kwargs": {
+                        "max_shift": 8,
+                        "padding_mode": "edge"
+                    }
+                }
+            }
+        },
+        "text_transform": {
+            "enable": true,
+            "rewrite_map_path": "/fsx/dongyoonhwang/lerobot_raw/modified_libero_prompts/diversified_text_prompt.yaml",
+            "case_insensitive": true,
+            "random_choice": true,
+            "rewrite_map": {
+                "pick up the black bowl between the plate and the ramekin and place it on the plate": [
+                    "pick up the black bowl that\u2019s sitting between the plate and the ramekin, and set it down on the plate",
+                    "lift the black bowl positioned between the plate and ramekin, then put it on top of the plate",
+                    "move the black bowl located between the plate and the ramekin onto the plate",
+                    "carefully take the black bowl from between the plate and ramekin and place it on the plate",
+                    "grab the black bowl found between the plate and ramekin and position it on the plate",
+                    "take the black bowl lying in the space between the plate and the ramekin and move it onto the plate",
+                    "retrieve the black bowl that\u2019s placed between the plate and ramekin and rest it on the plate",
+                    "grasp the black bowl sitting between the plate and ramekin, then transfer it onto the plate",
+                    "move the black bowl resting between the plate and ramekin so it ends up on the plate",
+                    "pick up the black bowl from the area between the plate and ramekin and put it on the plate",
+                    "lift the black bowl positioned between those two items \u2014 the plate and ramekin \u2014 and place it neatly on the plate",
+                    "take hold of the black bowl in the middle of the plate and ramekin, and carefully set it on the plate",
+                    "relocate the black bowl that\u2019s currently placed between the plate and ramekin to the plate itself",
+                    "with one smooth motion, grasp the black bowl between the plate and ramekin and place it squarely on the plate",
+                    "pick up the black bowl in the spot between the plate and ramekin and gently place it onto the plate",
+                    "grab the black bowl resting midway between the plate and ramekin and move it so it sits atop the plate",
+                    "take the black bowl that lies between the plate and ramekin and put it down on the plate in front of you",
+                    "retrieve the black bowl nestled between the plate and ramekin and position it carefully on the plate",
+                    "move the black bowl situated between the plate and ramekin directly onto the plate",
+                    "lift the black bowl found between the plate and ramekin, then neatly place it onto the plate"
+                ],
+                "pick up the black bowl next to the ramekin and place it on the plate": [
+                    "pick up the black bowl next to the ramekin and set it down on the plate",
+                    "grab the black bowl located beside the ramekin and place it on the plate",
+                    "lift the black bowl positioned right next to the ramekin, then move it to the plate",
+                    "take the black bowl that\u2019s sitting near the ramekin and put it on the plate",
+                    "move the black bowl beside the ramekin so it\u2019s resting on the plate",
+                    "retrieve the black bowl placed next to the ramekin and place it carefully on the plate",
+                    "grasp the black bowl sitting adjacent to the ramekin and set it on the plate",
+                    "transfer the black bowl lying beside the ramekin to the plate",
+                    "lift the black bowl located close to the ramekin and move it onto the plate",
+                    "take the black bowl from beside the ramekin and position it on top of the plate",
+                    "carefully pick up the black bowl that\u2019s next to the ramekin and put it down on the plate\u2019s surface",
+                    "grab the black bowl near the ramekin and gently place it on the plate",
+                    "take hold of the black bowl situated next to the ramekin and lay it down on the plate",
+                    "move the black bowl positioned right by the ramekin onto the plate in front of you",
+                    "lift the black bowl resting beside the ramekin and put it onto the plate",
+                    "pick up the black bowl you find next to the ramekin and place it carefully on the plate",
+                    "retrieve the black bowl next to the ramekin and set it neatly on the plate",
+                    "with care, move the black bowl that\u2019s near the ramekin to the plate\u2019s center",
+                    "take the black bowl positioned alongside the ramekin and place it on top of the plate",
+                    "lift the black bowl beside the ramekin, then put it gently onto the plate"
+                ],
+                "pick up the black bowl from table center and place it on the plate": [
+                    "pick up the black bowl from the center of the table and put it on the plate",
+                    "lift the black bowl that\u2019s placed at the table\u2019s center and set it on the plate",
+                    "move the black bowl from the middle of the table onto the plate",
+                    "grab the black bowl in the table\u2019s center and transfer it to the plate",
+                    "take the black bowl from the center area of the table and place it on the plate",
+                    "retrieve the black bowl located at the center of the table and put it on top of the plate",
+                    "lift the black bowl that\u2019s sitting right in the table\u2019s middle and set it carefully on the plate",
+                    "move the black bowl positioned at the table\u2019s center onto the plate\u2019s surface",
+                    "pick up the black bowl resting in the center of the table and place it on the plate",
+                    "grab the black bowl from the table center and move it onto the plate in front of you",
+                    "carefully lift the black bowl from the table\u2019s middle section and put it on the plate",
+                    "take the black bowl located in the center of the table and rest it on the plate",
+                    "pick up the black bowl from the middle spot on the table and place it onto the plate",
+                    "with one motion, lift the black bowl from the table\u2019s center and lay it on the plate",
+                    "take the black bowl found in the table\u2019s center area and gently set it on the plate",
+                    "retrieve the black bowl positioned in the middle of the table and move it to the plate",
+                    "grab the black bowl right in the table\u2019s center and place it on the plate\u2019s surface",
+                    "lift the black bowl that\u2019s at the center of the table and move it onto the plate",
+                    "move the black bowl from the middle of the table directly onto the plate",
+                    "pick up the black bowl sitting in the center of the table and position it neatly on the plate"
+                ],
+                "pick up the black bowl on the cookie box and place it on the plate": [
+                    "pick up the black bowl that\u2019s resting on the cookie box and set it on the plate",
+                    "lift the black bowl placed on top of the cookie box and move it to the plate",
+                    "grab the black bowl sitting on the cookie box and put it on the plate",
+                    "take the black bowl from the cookie box and place it carefully on the plate",
+                    "retrieve the black bowl that\u2019s on the cookie box and set it down on the plate",
+                    "move the black bowl from the cookie box\u2019s top surface to the plate",
+                    "grasp the black bowl placed atop the cookie box and lay it on the plate",
+                    "lift the black bowl positioned on the cookie box and put it on the plate",
+                    "pick up the black bowl lying on the cookie box and transfer it to the plate",
+                    "move the black bowl resting on the cookie box onto the plate in front of you",
+                    "take the black bowl from the cookie box and carefully place it on the plate",
+                    "gently lift the black bowl on the cookie box and set it on top of the plate",
+                    "grab the black bowl resting over the cookie box and place it onto the plate\u2019s surface",
+                    "retrieve the black bowl from its spot on the cookie box and move it to the plate",
+                    "lift the black bowl situated on the cookie box and put it down on the plate",
+                    "pick up the black bowl positioned over the cookie box and carefully lay it on the plate",
+                    "take the black bowl that\u2019s resting on top of the cookie box and place it on the plate",
+                    "move the black bowl from the cookie box to the plate smoothly",
+                    "grasp the black bowl found on the cookie box and set it down on the plate",
+                    "lift the black bowl that\u2019s on the cookie box, then gently place it onto the plate"
+                ],
+                "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate": [
+                    "pick up the black bowl inside the wooden cabinet\u2019s top drawer and set it on the plate",
+                    "open the wooden cabinet\u2019s top drawer, take the black bowl, and place it on the plate",
+                    "retrieve the black bowl kept in the upper drawer of the wooden cabinet and put it on the plate",
+                    "lift the black bowl from the top drawer of the wooden cabinet and move it onto the plate",
+                    "take out the black bowl stored in the wooden cabinet\u2019s top drawer and rest it on the plate",
+                    "pull open the cabinet\u2019s top drawer, grab the black bowl inside, and place it on the plate",
+                    "remove the black bowl from the wooden cabinet\u2019s highest drawer and put it down on the plate",
+                    "carefully lift the black bowl from the uppermost drawer of the wooden cabinet and set it on the plate",
+                    "find the black bowl inside the top drawer of the wooden cabinet, pick it up, and place it on the plate",
+                    "open the top drawer, take the black bowl inside, and lay it gently on the plate",
+                    "retrieve the black bowl located within the wooden cabinet\u2019s top drawer and put it onto the plate",
+                    "grasp the black bowl resting in the top drawer of the wooden cabinet and move it to the plate",
+                    "take the black bowl out from the top drawer of the cabinet and position it on the plate",
+                    "lift the black bowl kept inside the top drawer of the wooden cabinet and place it on the plate",
+                    "remove the black bowl you find in the top drawer of the wooden cabinet and set it on the plate",
+                    "take hold of the black bowl sitting in the cabinet\u2019s top drawer and move it to the plate",
+                    "carefully take out the black bowl from the wooden cabinet\u2019s top drawer and put it on the plate",
+                    "pull open the wooden cabinet\u2019s upper drawer, grab the black bowl, and rest it on the plate",
+                    "lift the black bowl from inside the wooden cabinet\u2019s top drawer and lay it on the plate",
+                    "retrieve the black bowl placed in the top drawer of the cabinet and set it neatly on the plate"
+                ],
+                "pick up the black bowl on the ramekin and place it on the plate": [
+                    "pick up the black bowl that\u2019s resting on the ramekin and set it on the plate",
+                    "lift the black bowl sitting atop the ramekin and move it to the plate",
+                    "grab the black bowl placed on the ramekin and put it down on the plate",
+                    "take the black bowl from the ramekin and place it carefully on the plate",
+                    "retrieve the black bowl balanced on the ramekin and rest it on the plate",
+                    "move the black bowl that\u2019s on the ramekin onto the plate",
+                    "grasp the black bowl sitting over the ramekin and set it on the plate",
+                    "lift the black bowl from the ramekin and put it gently on the plate",
+                    "take the black bowl located on top of the ramekin and move it to the plate",
+                    "carefully remove the black bowl from the ramekin and lay it on the plate",
+                    "pick up the black bowl balanced on the ramekin and place it on the plate\u2019s surface",
+                    "grab the black bowl from the ramekin and transfer it to the plate",
+                    "retrieve the black bowl found atop the ramekin and put it on the plate",
+                    "lift the black bowl resting over the ramekin and move it to the plate in front of you",
+                    "take hold of the black bowl positioned on the ramekin and set it down on the plate",
+                    "move the black bowl from the ramekin and position it neatly on the plate",
+                    "grasp the black bowl lying on the ramekin and lay it onto the plate\u2019s surface",
+                    "pick up the black bowl that\u2019s placed on top of the ramekin and set it on the plate",
+                    "lift the black bowl you see on the ramekin and carefully rest it on the plate",
+                    "take the black bowl sitting over the ramekin and gently place it onto the plate"
+                ],
+                "pick up the black bowl next to the cookie box and place it on the plate": [
+                    "pick up the black bowl next to the cookie box and put it on the plate",
+                    "lift the black bowl beside the cookie box and move it to the plate",
+                    "grab the black bowl sitting next to the cookie box and set it down on the plate",
+                    "take the black bowl located beside the cookie box and place it on the plate",
+                    "move the black bowl found near the cookie box onto the plate",
+                    "retrieve the black bowl from beside the cookie box and lay it on the plate",
+                    "grasp the black bowl positioned next to the cookie box and transfer it to the plate",
+                    "carefully lift the black bowl by the cookie box and put it on the plate",
+                    "take hold of the black bowl placed beside the cookie box and move it onto the plate",
+                    "pick up the black bowl near the cookie box and gently place it on the plate",
+                    "lift the black bowl that\u2019s resting next to the cookie box and put it on the plate\u2019s surface",
+                    "take the black bowl from beside the cookie box and set it down on the plate",
+                    "move the black bowl adjacent to the cookie box onto the plate",
+                    "grab the black bowl next to the cookie box and rest it carefully on the plate",
+                    "retrieve the black bowl positioned beside the cookie box and lay it on the plate",
+                    "lift the black bowl lying near the cookie box and transfer it to the plate",
+                    "pick up the black bowl you see beside the cookie box and put it on the plate",
+                    "take the black bowl found next to the cookie box and place it on the plate",
+                    "move the black bowl that\u2019s close to the cookie box onto the plate in front of you",
+                    "grasp the black bowl near the cookie box and carefully place it on the plate"
+                ],
+                "pick up the black bowl on the stove and place it on the plate": [
+                    "pick up the black bowl that\u2019s on the stove and set it on the plate",
+                    "lift the black bowl sitting atop the stove and move it to the plate",
+                    "take the black bowl placed on the stove and put it down on the plate",
+                    "grab the black bowl resting on the stove and lay it on the plate",
+                    "retrieve the black bowl from the stove\u2019s surface and place it on the plate",
+                    "move the black bowl located on the stove onto the plate",
+                    "carefully lift the black bowl sitting on top of the stove and transfer it to the plate",
+                    "pick up the black bowl lying on the stove and set it on the plate",
+                    "take the black bowl from the stove and put it on the plate",
+                    "lift the black bowl positioned over the stove and place it on the plate",
+                    "grab the black bowl found on the stove and move it to the plate\u2019s surface",
+                    "retrieve the black bowl sitting on the stove and set it gently on the plate",
+                    "pick up the black bowl that\u2019s been placed on the stove and move it to the plate",
+                    "lift the black bowl from the stove and lay it on top of the plate",
+                    "take hold of the black bowl resting on the stove and position it on the plate",
+                    "grasp the black bowl placed over the stove and transfer it onto the plate",
+                    "carefully take the black bowl from the stove\u2019s surface and put it on the plate",
+                    "move the black bowl that\u2019s on the stove directly to the plate",
+                    "lift the black bowl from the stove area and set it on the plate",
+                    "pick up the black bowl located on the stove and gently place it onto the plate"
+                ],
+                "pick up the black bowl next to the plate and place it on the plate": [
+                    "pick up the black bowl next to the plate and set it down on the plate",
+                    "grab the black bowl that\u2019s beside the plate and put it on top of the plate",
+                    "lift the black bowl sitting near the plate and place it on the plate",
+                    "take the black bowl located beside the plate and move it onto the plate",
+                    "move the black bowl next to the plate so it rests on the plate",
+                    "retrieve the black bowl positioned beside the plate and put it on the plate",
+                    "carefully pick up the black bowl from beside the plate and place it on the plate",
+                    "take the black bowl that\u2019s right next to the plate and set it on the plate\u2019s surface",
+                    "grab the black bowl near the plate and gently put it on the plate",
+                    "lift the black bowl lying next to the plate and move it onto the plate",
+                    "take the black bowl beside the plate and rest it neatly on the plate",
+                    "pick up the black bowl close to the plate and put it directly on top of it",
+                    "move the black bowl that\u2019s near the plate onto the plate",
+                    "lift the black bowl adjacent to the plate and lay it on the plate\u2019s surface",
+                    "retrieve the black bowl from beside the plate and place it on the plate",
+                    "grasp the black bowl next to the plate and transfer it carefully onto the plate",
+                    "take the black bowl positioned near the plate and set it gently on the plate",
+                    "lift the black bowl beside the plate and move it over onto the plate",
+                    "grab the black bowl near the plate and place it squarely on the plate",
+                    "move the black bowl from beside the plate onto the plate itself"
+                ],
+                "pick up the black bowl on the wooden cabinet and place it on the plate": [
+                    "pick up the black bowl that\u2019s on the wooden cabinet and set it on the plate",
+                    "lift the black bowl placed on top of the wooden cabinet and move it to the plate",
+                    "grab the black bowl resting on the wooden cabinet and put it down on the plate",
+                    "take the black bowl from the wooden cabinet and place it on the plate",
+                    "retrieve the black bowl that\u2019s sitting on the cabinet and set it on the plate",
+                    "move the black bowl located on the wooden cabinet onto the plate",
+                    "grasp the black bowl sitting atop the wooden cabinet and put it on the plate",
+                    "lift the black bowl from the wooden cabinet\u2019s surface and place it on the plate",
+                    "take hold of the black bowl resting on the wooden cabinet and move it to the plate",
+                    "carefully pick up the black bowl from the cabinet and set it on the plate",
+                    "grab the black bowl positioned on the wooden cabinet and lay it on the plate",
+                    "move the black bowl that\u2019s on top of the cabinet onto the plate",
+                    "retrieve the black bowl sitting over the wooden cabinet and put it on the plate",
+                    "lift the black bowl from the cabinet and gently place it on the plate",
+                    "take the black bowl you see on the wooden cabinet and position it on the plate",
+                    "grasp the black bowl found atop the wooden cabinet and transfer it to the plate",
+                    "move the black bowl from the wooden cabinet directly to the plate",
+                    "pick up the black bowl that\u2019s resting on the cabinet and lay it on the plate",
+                    "carefully lift the black bowl from the wooden cabinet and put it onto the plate",
+                    "take the black bowl from on top of the wooden cabinet and place it neatly on the plate"
+                ],
+                "pick up the alphabet soup and place it in the basket": [
+                    "pick up the can of alphabet soup and put it in the basket",
+                    "lift the alphabet soup from the table and drop it into the basket",
+                    "take the alphabet soup and place it inside the basket",
+                    "grab the alphabet soup and set it carefully in the basket",
+                    "move the alphabet soup container and put it into the basket",
+                    "pick up the alphabet soup and gently lay it in the basket",
+                    "retrieve the alphabet soup and put it down in the basket",
+                    "take the can of alphabet soup and place it inside the shopping basket",
+                    "lift the alphabet soup off the surface and set it into the basket",
+                    "pick up the alphabet soup package and put it in the basket",
+                    "grab the alphabet soup and neatly place it in the basket",
+                    "take hold of the alphabet soup can and move it into the basket",
+                    "carefully lift the alphabet soup and lay it inside the basket",
+                    "move the alphabet soup from the table to the basket",
+                    "retrieve the alphabet soup container and put it in the basket\u2019s center",
+                    "pick up the alphabet soup can and rest it inside the basket",
+                    "take the alphabet soup and position it in the basket",
+                    "lift the alphabet soup can from the table and place it in the basket",
+                    "grab the alphabet soup and gently drop it into the basket",
+                    "pick up the alphabet soup item and set it securely in the basket"
+                ],
+                "pick up the cream cheese and place it in the basket": [
+                    "pick up the cream cheese and put it in the basket",
+                    "lift the cream cheese container and place it into the basket",
+                    "take the cream cheese box and set it in the basket",
+                    "grab the cream cheese package and drop it into the basket",
+                    "move the cream cheese and put it carefully in the basket",
+                    "retrieve the cream cheese container and place it in the basket",
+                    "pick up the cream cheese block and set it inside the basket",
+                    "lift the cream cheese from the table and lay it in the basket",
+                    "take hold of the cream cheese and put it into the basket",
+                    "move the cream cheese package from the counter into the basket",
+                    "grab the cream cheese box and gently place it in the basket",
+                    "pick up the cream cheese item and rest it inside the basket",
+                    "take the cream cheese out of its spot and put it into the basket",
+                    "carefully lift the cream cheese and place it neatly in the basket",
+                    "retrieve the cream cheese pack and set it inside the basket",
+                    "lift the cream cheese and move it to the basket",
+                    "take the cream cheese package and put it in the basket",
+                    "grab the cream cheese container and lay it in the basket",
+                    "pick up the cream cheese and gently drop it in the basket",
+                    "move the cream cheese to the basket and set it there securely"
+                ],
+                "pick up the salad dressing and place it in the basket": [
+                    "pick up the salad dressing and put it in the basket",
+                    "lift the salad dressing bottle and place it into the basket",
+                    "grab the salad dressing and drop it into the basket",
+                    "take the salad dressing from the table and set it in the basket",
+                    "move the salad dressing bottle to the basket",
+                    "retrieve the salad dressing container and put it in the basket",
+                    "pick up the salad dressing and gently lay it in the basket",
+                    "lift the salad dressing from the surface and place it in the basket",
+                    "take the salad dressing and position it inside the basket",
+                    "carefully pick up the salad dressing bottle and put it in the basket",
+                    "grab the salad dressing item and set it neatly in the basket",
+                    "move the salad dressing into the basket carefully",
+                    "pick up the salad dressing from where it\u2019s lying and put it in the basket",
+                    "lift the salad dressing and rest it in the basket",
+                    "take hold of the salad dressing bottle and move it into the basket",
+                    "retrieve the salad dressing container and lay it inside the basket",
+                    "grab the salad dressing and place it securely in the basket",
+                    "pick up the salad dressing bottle and drop it gently into the basket",
+                    "take the salad dressing item and put it in the basket",
+                    "lift the salad dressing off the table and position it in the basket"
+                ],
+                "pick up the bbq sauce and place it in the basket": [
+                    "pick up the BBQ sauce and put it in the basket",
+                    "lift the barbecue sauce bottle and set it into the basket",
+                    "grab the BBQ sauce and place it carefully in the basket",
+                    "take the BBQ sauce container and drop it into the basket",
+                    "move the barbecue sauce from the counter into the basket",
+                    "retrieve the BBQ sauce and lay it inside the basket",
+                    "pick up the BBQ sauce and put it down in the basket",
+                    "lift the barbecue sauce bottle and place it gently in the basket",
+                    "take hold of the BBQ sauce and rest it inside the basket",
+                    "grab the barbecue sauce and set it into the basket",
+                    "move the BBQ sauce from the table to the basket",
+                    "lift the BBQ sauce bottle and drop it into the basket",
+                    "carefully take the barbecue sauce and place it neatly in the basket",
+                    "retrieve the BBQ sauce container and put it inside the basket",
+                    "grab the BBQ sauce and move it into the basket",
+                    "take the BBQ sauce bottle and position it in the basket",
+                    "pick up the barbecue sauce and set it inside the basket",
+                    "lift the BBQ sauce and place it securely in the basket",
+                    "take hold of the BBQ sauce bottle and drop it into the basket",
+                    "pick up the BBQ sauce container and put it in the basket"
+                ],
+                "pick up the ketchup and place it in the basket": [
+                    "pick up the ketchup and put it in the basket",
+                    "lift the ketchup bottle and place it inside the basket",
+                    "take the ketchup and drop it into the basket",
+                    "grab the ketchup from the table and set it in the basket",
+                    "move the ketchup bottle to the basket",
+                    "retrieve the ketchup and put it carefully in the basket",
+                    "pick up the ketchup container and lay it in the basket",
+                    "lift the ketchup from the surface and place it in the basket",
+                    "take hold of the ketchup and set it in the basket",
+                    "grab the ketchup bottle and put it in the basket",
+                    "carefully lift the ketchup and drop it into the basket",
+                    "move the ketchup from the table into the basket",
+                    "retrieve the ketchup container and rest it in the basket",
+                    "pick up the ketchup and gently place it in the basket",
+                    "lift the ketchup bottle and put it on the basket\u2019s bottom",
+                    "take the ketchup item and lay it inside the basket",
+                    "grab the ketchup and move it into the basket",
+                    "take the ketchup from the counter and set it in the basket",
+                    "lift the ketchup bottle and position it in the basket",
+                    "pick up the ketchup and drop it gently into the basket"
+                ],
+                "pick up the tomato sauce and place it in the basket": [
+                    "pick up the tomato sauce and put it in the basket",
+                    "lift the tomato sauce can and place it into the basket",
+                    "grab the tomato sauce and set it in the basket",
+                    "take the tomato sauce and drop it carefully in the basket",
+                    "move the tomato sauce container to the basket",
+                    "retrieve the tomato sauce and place it inside the basket",
+                    "pick up the tomato sauce bottle and lay it in the basket",
+                    "lift the tomato sauce from the table and set it in the basket",
+                    "take the tomato sauce item and put it in the basket",
+                    "grab the tomato sauce and move it to the basket",
+                    "lift the tomato sauce container and drop it into the basket",
+                    "carefully pick up the tomato sauce and set it in the basket",
+                    "take the tomato sauce and position it in the basket",
+                    "retrieve the tomato sauce and lay it inside the basket",
+                    "move the tomato sauce bottle into the basket",
+                    "grab the tomato sauce can and put it in the basket",
+                    "lift the tomato sauce item and place it gently in the basket",
+                    "take hold of the tomato sauce and move it to the basket",
+                    "pick up the tomato sauce and drop it into the basket",
+                    "lift the tomato sauce container and rest it inside the basket"
+                ],
+                "pick up the butter and place it in the basket": [
+                    "pick up the butter and put it in the basket",
+                    "lift the butter pack and place it inside the basket",
+                    "grab the butter block and set it in the basket",
+                    "take the butter and drop it into the basket",
+                    "move the butter to the basket carefully",
+                    "retrieve the butter and put it in the basket",
+                    "pick up the butter packet and lay it in the basket",
+                    "lift the butter from the table and place it in the basket",
+                    "take the butter stick and rest it in the basket",
+                    "grab the butter item and move it into the basket",
+                    "carefully lift the butter and set it down in the basket",
+                    "move the butter from the counter to the basket",
+                    "retrieve the butter pack and put it in the basket",
+                    "take the butter and place it gently in the basket",
+                    "lift the butter block and lay it inside the basket",
+                    "pick up the butter from the surface and set it in the basket",
+                    "take hold of the butter and put it in the basket",
+                    "grab the butter and position it in the basket",
+                    "move the butter into the basket carefully",
+                    "lift the butter and place it securely in the basket"
+                ],
+                "pick up the milk and place it in the basket": [
+                    "pick up the milk and put it in the basket",
+                    "lift the milk carton and place it inside the basket",
+                    "take the milk bottle and set it in the basket",
+                    "grab the milk and drop it into the basket",
+                    "move the milk container to the basket",
+                    "retrieve the milk and put it in the basket carefully",
+                    "pick up the milk carton and lay it in the basket",
+                    "lift the milk from the table and set it in the basket",
+                    "take the milk item and position it in the basket",
+                    "grab the milk and place it gently in the basket",
+                    "lift the milk carton and put it in the basket",
+                    "move the milk from the counter into the basket",
+                    "retrieve the milk and lay it in the basket",
+                    "carefully pick up the milk and set it down in the basket",
+                    "take hold of the milk and move it to the basket",
+                    "pick up the milk bottle and drop it into the basket",
+                    "lift the milk container and place it neatly in the basket",
+                    "grab the milk and rest it inside the basket",
+                    "move the milk into the basket",
+                    "take the milk carton and gently set it in the basket"
+                ],
+                "pick up the chocolate pudding and place it in the basket": [
+                    "pick up the chocolate pudding and put it in the basket",
+                    "lift the pudding cup and place it inside the basket",
+                    "grab the chocolate pudding and drop it into the basket",
+                    "take the pudding container and set it in the basket",
+                    "move the chocolate pudding into the basket carefully",
+                    "retrieve the pudding and put it in the basket",
+                    "pick up the chocolate pudding cup and lay it in the basket",
+                    "lift the pudding from the table and place it in the basket",
+                    "take hold of the chocolate pudding and rest it in the basket",
+                    "grab the pudding container and move it to the basket",
+                    "carefully lift the chocolate pudding and set it in the basket",
+                    "move the pudding item into the basket",
+                    "pick up the chocolate pudding pack and drop it gently into the basket",
+                    "take the pudding and place it in the basket",
+                    "lift the pudding from the counter and set it inside the basket",
+                    "retrieve the chocolate pudding cup and put it in the basket",
+                    "grab the pudding and position it in the basket",
+                    "pick up the chocolate pudding and lay it neatly in the basket",
+                    "take hold of the pudding cup and move it to the basket",
+                    "lift the chocolate pudding container and set it carefully in the basket"
+                ],
+                "pick up the orange juice and place it in the basket": [
+                    "pick up the orange juice and put it in the basket",
+                    "lift the orange juice carton and place it inside the basket",
+                    "take the orange juice bottle and set it in the basket",
+                    "grab the orange juice and drop it into the basket",
+                    "move the orange juice container to the basket",
+                    "retrieve the orange juice and put it in the basket",
+                    "pick up the orange juice and gently place it in the basket",
+                    "lift the orange juice from the table and set it in the basket",
+                    "take the orange juice carton and lay it inside the basket",
+                    "grab the orange juice bottle and position it in the basket",
+                    "carefully pick up the orange juice and rest it in the basket",
+                    "move the orange juice into the basket",
+                    "take the orange juice item and put it on the basket\u2019s base",
+                    "lift the orange juice container and drop it in the basket",
+                    "retrieve the orange juice and set it neatly in the basket",
+                    "grab the orange juice and move it into the basket",
+                    "pick up the orange juice bottle and place it carefully in the basket",
+                    "lift the orange juice and put it down in the basket",
+                    "take the orange juice carton and position it in the basket",
+                    "move the orange juice into the basket and make sure it\u2019s steady"
+                ],
+                "open the middle drawer of the cabinet": [
+                    "open the middle drawer of the cabinet",
+                    "pull open the cabinet\u2019s middle drawer",
+                    "slide out the center drawer from the cabinet",
+                    "open the drawer located in the middle section of the cabinet",
+                    "gently pull the middle drawer of the cabinet outward",
+                    "access the cabinet\u2019s middle drawer by opening it",
+                    "pull open the drawer in the center of the cabinet",
+                    "open up the cabinet\u2019s central drawer",
+                    "slide the middle drawer open on the cabinet",
+                    "carefully open the cabinet\u2019s drawer in the middle",
+                    "pull the handle and open the cabinet\u2019s middle drawer",
+                    "move the middle drawer outward to open it",
+                    "open the cabinet\u2019s central drawer smoothly",
+                    "gently pull out the cabinet\u2019s drawer that\u2019s in the middle",
+                    "Unlock and open the middle drawer of the cabinet",
+                    "slide open the drawer that sits in the cabinet\u2019s middle slot",
+                    "open up the middle compartment drawer of the cabinet",
+                    "pull outward to open the middle drawer of the cabinet",
+                    "carefully slide open the cabinet\u2019s center drawer",
+                    "open the cabinet drawer located between the top and bottom ones"
+                ],
+                "put the bowl on the stove": [
+                    "put the bowl on the stove",
+                    "place the bowl on top of the stove",
+                    "set the bowl down on the stove\u2019s surface",
+                    "move the bowl and position it on the stove",
+                    "put the bowl gently on the stove",
+                    "place the bowl carefully onto the stove",
+                    "lay the bowl on the stove\u2019s top",
+                    "put the bowl directly on the stove",
+                    "set the bowl over the stove burner area",
+                    "move the bowl so that it sits on the stove",
+                    "carefully place the bowl on the stove\u2019s center",
+                    "put the bowl onto the stove\u2019s flat surface",
+                    "rest the bowl on top of the stove",
+                    "lift the bowl and set it on the stove",
+                    "position the bowl neatly on the stove",
+                    "place the bowl right on the stove",
+                    "move the bowl from where it is to the stove",
+                    "put the bowl down onto the stove\u2019s surface",
+                    "lay the bowl on top of the stove gently",
+                    "set the bowl on the stove and ensure it\u2019s stable"
+                ],
+                "put the wine bottle on top of the cabinet": [
+                    "put the wine bottle on top of the cabinet",
+                    "place the wine bottle on the cabinet\u2019s upper surface",
+                    "set the wine bottle on top of the cabinet carefully",
+                    "move the wine bottle and place it atop the cabinet",
+                    "lift the wine bottle and rest it on top of the cabinet",
+                    "position the wine bottle on the cabinet\u2019s top area",
+                    "put the wine bottle onto the upper surface of the cabinet",
+                    "lay the wine bottle down on top of the cabinet",
+                    "carefully place the wine bottle on the cabinet\u2019s top",
+                    "set the wine bottle over the cabinet",
+                    "put the wine bottle on top of the wooden cabinet",
+                    "move the wine bottle up and set it on the cabinet\u2019s top side",
+                    "gently place the wine bottle on the top surface of the cabinet",
+                    "lift the wine bottle and put it on top of the cabinet",
+                    "position the wine bottle neatly on the cabinet\u2019s top",
+                    "place the wine bottle over the cabinet and make sure it\u2019s stable",
+                    "put the bottle of wine right on top of the cabinet",
+                    "set the wine bottle atop the cabinet",
+                    "carefully rest the wine bottle on the cabinet\u2019s uppermost surface",
+                    "move the wine bottle to the top of the cabinet"
+                ],
+                "open the top drawer and put the bowl inside": [
+                    "open the top drawer and put the bowl inside",
+                    "pull open the upper drawer and place the bowl in it",
+                    "open the cabinet\u2019s top drawer and set the bowl inside",
+                    "slide open the top drawer and put the bowl in",
+                    "open the upper drawer, then place the bowl within it",
+                    "gently open the top drawer and put the bowl inside",
+                    "pull open the drawer at the top and set the bowl inside",
+                    "open the topmost drawer and place the bowl inside it",
+                    "slide out the top drawer and put the bowl in",
+                    "open the top drawer completely and set the bowl within",
+                    "Unlock the top drawer, open it, and put the bowl inside",
+                    "open up the drawer on the top and put the bowl in",
+                    "pull open the uppermost drawer and lay the bowl inside",
+                    "gently slide open the top drawer and drop the bowl in",
+                    "open the top drawer and carefully place the bowl inside",
+                    "pull the top drawer open and insert the bowl",
+                    "slide out the upper drawer and put the bowl inside",
+                    "open the top compartment drawer and place the bowl in",
+                    "open the drawer at the top of the cabinet and set the bowl inside",
+                    "open the top drawer fully and put the bowl inside neatly"
+                ],
+                "put the bowl on top of the cabinet": [
+                    "put the bowl on top of the cabinet",
+                    "place the bowl carefully on the cabinet\u2019s upper surface",
+                    "set the bowl on top of the cabinet",
+                    "move the bowl and position it on the cabinet\u2019s top",
+                    "lift the bowl and place it atop the cabinet",
+                    "put the bowl directly on the top of the cabinet",
+                    "lay the bowl on the cabinet\u2019s top surface",
+                    "carefully rest the bowl on top of the cabinet",
+                    "place the bowl onto the cabinet\u2019s upper area",
+                    "set the bowl down on the cabinet\u2019s top",
+                    "move the bowl to the cabinet and place it on top",
+                    "lift the bowl and gently lay it on the cabinet",
+                    "put the bowl over the cabinet\u2019s top",
+                    "position the bowl neatly on the top surface of the cabinet",
+                    "place the bowl on the cabinet\u2019s uppermost surface",
+                    "set the bowl atop the cabinet carefully",
+                    "move the bowl upward and rest it on the cabinet\u2019s top",
+                    "put the bowl right on the top of the cabinet",
+                    "lay the bowl gently on the cabinet\u2019s upper part",
+                    "place the bowl on top of the cabinet in a stable position"
+                ],
+                "push the plate to the front of the stove": [
+                    "push the plate to the front of the stove",
+                    "move the plate forward until it\u2019s at the stove\u2019s front",
+                    "slide the plate toward the front of the stove",
+                    "push the plate closer to the stove\u2019s front edge",
+                    "gently push the plate to the stove\u2019s front side",
+                    "move the plate toward the front burner area",
+                    "push the plate forward to the stove\u2019s edge",
+                    "slide the plate up to the front part of the stove",
+                    "shift the plate until it\u2019s positioned at the stove\u2019s front",
+                    "move the plate forward to the front section of the stove",
+                    "gently slide the plate toward the stove\u2019s front",
+                    "push the plate ahead until it reaches the front of the stove",
+                    "move the plate up to the front burner on the stove",
+                    "slide the plate forward along the counter to the stove\u2019s front",
+                    "push the plate gently toward the front burners",
+                    "Bring the plate forward to the front of the stove",
+                    "move the plate until it sits at the frontmost position on the stove",
+                    "carefully push the plate to the stove\u2019s leading edge",
+                    "slide the plate toward the nearest part of the stove",
+                    "push the plate so that it ends up at the stove\u2019s front edge"
+                ],
+                "put the cream cheese in the bowl": [
+                    "put the cream cheese in the bowl",
+                    "place the cream cheese inside the bowl",
+                    "drop the cream cheese into the bowl",
+                    "set the cream cheese in the bowl",
+                    "move the cream cheese and put it in the bowl",
+                    "carefully place the cream cheese in the bowl",
+                    "put the cream cheese block into the bowl",
+                    "lift the cream cheese and set it down in the bowl",
+                    "position the cream cheese inside the bowl\u2019s center",
+                    "drop the cream cheese gently into the bowl",
+                    "take the cream cheese and place it within the bowl",
+                    "put the cream cheese right inside the bowl",
+                    "lay the cream cheese in the middle of the bowl",
+                    "place the cream cheese into the bowl carefully",
+                    "move the cream cheese so that it rests inside the bowl",
+                    "put the cream cheese in the bowl\u2019s bottom",
+                    "drop the cream cheese inside the bowl gently",
+                    "set the cream cheese down in the bowl",
+                    "carefully position the cream cheese in the bowl",
+                    "place the cream cheese squarely inside the bowl"
+                ],
+                "turn on the stove": [
+                    "turn on the stove",
+                    "switch on the stove",
+                    "activate the stove",
+                    "power on the stove",
+                    "turn the stove knob to start it",
+                    "switch the stove to the on position",
+                    "turn the control to turn on the stove",
+                    "turn the burner knob to ignite the stove",
+                    "start the stove by turning it on",
+                    "engage the stove\u2019s power by switching it on",
+                    "turn the stove to the \u201con\u201d setting",
+                    "light the stove by turning it on",
+                    "rotate the stove knob to the on side",
+                    "turn on the burner on the stove",
+                    "activate the stove by twisting the knob",
+                    "power the stove on by adjusting its control",
+                    "switch the stove from off to on",
+                    "turn the stove control to start heating",
+                    "turn the stove knob clockwise to ignite",
+                    "simply turn on the stove to activate it"
+                ],
+                "put the bowl on the plate": [
+                    "put the bowl on the plate",
+                    "place the bowl on top of the plate",
+                    "set the bowl down on the plate",
+                    "move the bowl and put it on the plate",
+                    "carefully place the bowl on the plate",
+                    "lay the bowl on the plate\u2019s surface",
+                    "put the bowl directly on the plate",
+                    "set the bowl on top of the plate gently",
+                    "position the bowl on the plate",
+                    "move the bowl to the plate and place it there",
+                    "rest the bowl on the plate",
+                    "lift the bowl and put it on top of the plate",
+                    "put the bowl down on the plate in front of you",
+                    "place the bowl carefully on the center of the plate",
+                    "move the bowl to sit neatly on the plate",
+                    "set the bowl on the plate so it\u2019s stable",
+                    "put the bowl right on the plate\u2019s middle",
+                    "lay the bowl on the plate carefully",
+                    "lift the bowl and place it on the plate surface",
+                    "gently put the bowl down on top of the plate"
+                ],
+                "put the wine bottle on the rack": [
+                    "put the wine bottle on the rack",
+                    "place the wine bottle on the wine rack",
+                    "set the wine bottle onto the rack",
+                    "move the wine bottle and position it on the rack",
+                    "carefully lay the wine bottle on the rack",
+                    "put the bottle of wine in the rack",
+                    "place the wine bottle neatly on the rack\u2019s holder",
+                    "set the wine bottle into its rack slot",
+                    "position the wine bottle securely on the rack",
+                    "move the wine bottle from the table to the rack",
+                    "lift the wine bottle and place it on the rack",
+                    "put the wine bottle down on the rack gently",
+                    "carefully place the wine bottle on the wine rack\u2019s shelf",
+                    "lay the wine bottle horizontally on the rack",
+                    "Insert the wine bottle into the rack\u2019s groove",
+                    "move the wine bottle so it rests on the rack",
+                    "set the bottle of wine in its proper rack position",
+                    "put the wine bottle into one of the rack slots",
+                    "place the wine bottle over the rack\u2019s support rails",
+                    "securely place the wine bottle on the rack for storage"
+                ],
+                "put both the alphabet soup and the tomato sauce in the basket": [
+                    "put both the alphabet soup and the tomato sauce in the basket",
+                    "place the alphabet soup and tomato sauce together in the basket",
+                    "put the can of alphabet soup and the jar of tomato sauce into the basket",
+                    "take both the alphabet soup and tomato sauce and drop them into the basket",
+                    "move the alphabet soup and tomato sauce into the basket side by side",
+                    "place both the alphabet soup and tomato sauce neatly in the basket",
+                    "put the alphabet soup along with the tomato sauce into the basket",
+                    "pick up the alphabet soup and the tomato sauce, then set them in the basket",
+                    "lift the two items \u2014 alphabet soup and tomato sauce \u2014 and place them inside the basket",
+                    "put both the alphabet soup and tomato sauce cans into the basket carefully",
+                    "transfer the alphabet soup and tomato sauce to the basket together",
+                    "take the alphabet soup and tomato sauce and rest them inside the basket",
+                    "move both food items, the alphabet soup and tomato sauce, into the basket",
+                    "place both cans \u2014 alphabet soup and tomato sauce \u2014 neatly inside the basket",
+                    "put the alphabet soup and tomato sauce together on the basket\u2019s bottom",
+                    "gently place the alphabet soup beside the tomato sauce in the basket",
+                    "pick up both the alphabet soup and tomato sauce and put them in the basket",
+                    "place the alphabet soup and the tomato sauce side by side in the basket",
+                    "move the alphabet soup and tomato sauce containers into the basket carefully",
+                    "set both the alphabet soup and tomato sauce in the basket for storage"
+                ],
+                "put both the cream cheese box and the butter in the basket": [
+                    "put both the cream cheese box and the butter in the basket",
+                    "place the cream cheese and the butter together in the basket",
+                    "move the cream cheese box and butter into the basket",
+                    "take both the cream cheese box and the butter and put them in the basket",
+                    "place the butter and cream cheese side by side in the basket",
+                    "put the cream cheese along with the butter into the basket",
+                    "lift the cream cheese box and butter, and set them together in the basket",
+                    "transfer both the butter and cream cheese into the basket",
+                    "gently place the butter and cream cheese box in the basket",
+                    "pick up the cream cheese and the butter and drop them in the basket",
+                    "move the two items \u2014 cream cheese and butter \u2014 into the basket",
+                    "put the cream cheese box beside the butter inside the basket",
+                    "lay both the cream cheese and butter in the basket neatly",
+                    "carefully place the cream cheese and the butter together in the basket",
+                    "pick up both the cream cheese box and the butter and rest them in the basket",
+                    "put the cream cheese and butter into the basket at the same time",
+                    "lift the cream cheese box and butter and place them in the basket",
+                    "place the cream cheese next to the butter in the basket",
+                    "move the cream cheese and butter items to the basket",
+                    "set both the cream cheese and butter inside the basket side by side"
+                ],
+                "turn on the stove and put the moka pot on it": [
+                    "turn on the stove and put the moka pot on it",
+                    "switch on the stove, then place the moka pot on top",
+                    "turn the stove on and set the moka pot over it",
+                    "activate the stove, then put the moka pot on the burner",
+                    "turn the stove knob and place the moka pot on the heating area",
+                    "power on the stove and rest the moka pot on it",
+                    "turn on the burner and position the moka pot on the stove",
+                    "start the stove and place the moka pot on top",
+                    "turn on the stove, then gently set the moka pot on the surface",
+                    "switch the stove on and move the moka pot onto it",
+                    "turn on the stove before placing the moka pot there",
+                    "turn the burner on and put the moka pot above it",
+                    "power on the stove and place the moka pot in the center",
+                    "turn on the stove, then lay the moka pot over it carefully",
+                    "activate the stove, then move the moka pot to the burner area",
+                    "turn the stove on fully and set the moka pot on top",
+                    "switch on the stove and carefully position the moka pot",
+                    "turn the burner knob, then place the moka pot on the stove\u2019s surface",
+                    "turn the stove on to heat, then put the moka pot there",
+                    "start the stove and gently place the moka pot on top of it"
+                ],
+                "put the black bowl in the bottom drawer of the cabinet and close it": [
+                    "put the black bowl in the bottom drawer of the cabinet and close it",
+                    "place the black bowl inside the cabinet\u2019s lower drawer, then shut it",
+                    "open the bottom drawer, put in the black bowl, and close it afterward",
+                    "move the black bowl into the cabinet\u2019s bottom drawer and close the drawer",
+                    "put the black bowl into the lowest drawer of the cabinet, then close it",
+                    "carefully place the black bowl in the cabinet\u2019s bottom drawer and shut it",
+                    "Insert the black bowl into the cabinet\u2019s bottom drawer and close it",
+                    "put the black bowl in the lower drawer of the cabinet, then push it closed",
+                    "set the black bowl inside the bottom drawer, then close the drawer completely",
+                    "place the black bowl in the cabinet\u2019s bottom drawer and slide it shut",
+                    "open the cabinet\u2019s lowest drawer, put the bowl inside, and close it",
+                    "put the black bowl in the bottom drawer, then close the cabinet drawer",
+                    "gently set the black bowl into the cabinet\u2019s lower drawer and close it",
+                    "move the black bowl into the bottom drawer and close it securely",
+                    "place the black bowl into the cabinet\u2019s lowest drawer, then push it closed",
+                    "Insert the black bowl in the cabinet\u2019s bottom drawer and shut it gently",
+                    "open the cabinet drawer, put the bowl inside, and close it back",
+                    "slide the black bowl into the bottom drawer and close the cabinet",
+                    "put the black bowl in the lower compartment of the cabinet and close it",
+                    "set the black bowl in the bottom drawer and push the drawer shut"
+                ],
+                "put the white mug on the left plate and put the yellow and white mug on the right plate": [
+                    "put the white mug on the left plate and the yellow-and-white mug on the right plate",
+                    "place the white mug on the left plate, then set the yellow-and-white mug on the right one",
+                    "position the white mug on the plate to the left, and the yellow-and-white mug on the plate to the right",
+                    "put the white mug on the left-hand plate, and the yellow-and-white one on the right-hand plate",
+                    "move the white mug to the left plate and the yellow-and-white mug to the right",
+                    "set the white mug on the left plate while placing the yellow-and-white mug on the right",
+                    "put the white mug down on the left plate, and the yellow-and-white one on the right",
+                    "place both mugs \u2014 white on the left plate and yellow-and-white on the right plate",
+                    "put the white mug on the left plate and the yellow-and-white one on the right side",
+                    "set the white mug to the left plate, the yellow-and-white one to the right",
+                    "carefully place the white mug on the plate on the left and the yellow-and-white mug on the right",
+                    "arrange the mugs: white on the left plate, yellow-and-white on the right",
+                    "move the white mug to the left-hand plate and the yellow-and-white to the right-hand plate",
+                    "put the white mug on the left plate, and right after, place the yellow-and-white mug on the right plate",
+                    "set the mugs on their respective plates \u2014 white left, yellow-and-white right",
+                    "position the white mug on the left and the yellow-and-white mug on the right plate",
+                    "place the mugs correctly: the white mug goes on the left plate, the yellow-and-white mug on the right",
+                    "move the white mug to rest on the left plate, then put the yellow-and-white mug on the right",
+                    "put down the white mug on the left plate, and the yellow-and-white mug on the right-hand one",
+                    "set the white mug on the left plate and neatly place the yellow-and-white mug on the right plate"
+                ],
+                "pick up the book and place it in the back compartment of the caddy": [
+                    "pick up the book and place it in the back compartment of the caddy",
+                    "lift the book and put it in the caddy\u2019s rear compartment",
+                    "take the book and move it to the back section of the caddy",
+                    "pick up the book and set it inside the caddy\u2019s back compartment",
+                    "grab the book and place it neatly in the caddy\u2019s rear compartment",
+                    "move the book and put it in the back part of the caddy",
+                    "lift the book from the table and drop it into the caddy\u2019s back compartment",
+                    "take hold of the book and position it in the back area of the caddy",
+                    "carefully pick up the book and place it into the back compartment of the caddy",
+                    "move the book from its spot and put it into the caddy\u2019s back section",
+                    "take the book and gently place it in the back compartment of the caddy",
+                    "grab the book and slide it into the caddy\u2019s rear compartment",
+                    "lift the book up and set it inside the back compartment of the caddy",
+                    "pick up the book from the surface and rest it in the back compartment of the caddy",
+                    "move the book to the caddy and put it in the back slot",
+                    "take the book and lay it in the back compartment of the caddy",
+                    "lift the book and carefully place it in the caddy\u2019s back area",
+                    "grab the book and position it at the back section of the caddy",
+                    "move the book over to the caddy and put it into the back compartment",
+                    "place the book securely in the back compartment of the caddy after picking it up"
+                ],
+                "put the white mug on the plate and put the chocolate pudding to the right of the plate": [
+                    "put the white mug on the plate and place the chocolate pudding to the right of the plate",
+                    "set the white mug on top of the plate, then put the chocolate pudding to its right",
+                    "place the white mug on the plate and position the pudding on the plate\u2019s right side",
+                    "put the mug on the plate and move the chocolate pudding beside it on the right",
+                    "lay the white mug on the plate, and set the chocolate pudding on the right-hand side",
+                    "position the white mug directly on the plate, then place the chocolate pudding to its right",
+                    "place the mug on top of the plate and put the pudding to the plate\u2019s right",
+                    "put the white mug on the plate, then move the chocolate pudding next to it on the right",
+                    "set the mug over the plate and the pudding to the right-hand side of the plate",
+                    "place the mug on the plate and move the chocolate pudding to the right side",
+                    "put the white mug on top of the plate, and place the pudding right next to it on the right",
+                    "carefully place the mug on the plate and the pudding to its right",
+                    "move the mug to sit on the plate and the chocolate pudding to the right of it",
+                    "set the white mug in the center of the plate, and the pudding to the right side",
+                    "put the mug on the plate and place the pudding on the right-hand edge",
+                    "place the white mug squarely on the plate, and put the pudding on the right side",
+                    "position the white mug on the plate, and then place the chocolate pudding beside it on the right",
+                    "lay the mug on the plate and the chocolate pudding to the right of that plate",
+                    "put the white mug over the plate and the pudding just to the right of it",
+                    "place the white mug on the plate, followed by setting the chocolate pudding to its right"
+                ],
+                "put both the alphabet soup and the cream cheese box in the basket": [
+                    "put both the alphabet soup and the cream cheese box in the basket",
+                    "place the alphabet soup and cream cheese together in the basket",
+                    "move the cream cheese box and alphabet soup into the basket",
+                    "pick up both items \u2014 the alphabet soup and the cream cheese \u2014 and put them in the basket",
+                    "put the alphabet soup and the cream cheese box inside the basket",
+                    "place the cream cheese and alphabet soup side by side in the basket",
+                    "take the alphabet soup and cream cheese box and set them into the basket",
+                    "lift both the alphabet soup and cream cheese and put them in the basket",
+                    "move the alphabet soup along with the cream cheese into the basket",
+                    "put the cream cheese box next to the alphabet soup inside the basket",
+                    "transfer both the alphabet soup and cream cheese box to the basket",
+                    "carefully place the alphabet soup and cream cheese into the basket",
+                    "pick up both food items \u2014 alphabet soup and cream cheese \u2014 and drop them in the basket",
+                    "move the cream cheese and alphabet soup from the counter into the basket",
+                    "place the alphabet soup and cream cheese box neatly inside the basket",
+                    "put the alphabet soup together with the cream cheese into the basket",
+                    "lift the alphabet soup and cream cheese box and lay them inside the basket",
+                    "place the two items, cream cheese and alphabet soup, into the basket",
+                    "move both the alphabet soup and cream cheese into the basket carefully",
+                    "set the alphabet soup and cream cheese in the basket next to each other"
+                ],
+                "put both moka pots on the stove": [
+                    "put both moka pots on the stove",
+                    "place the two moka pots on top of the stove",
+                    "set both moka pots down on the stove\u2019s surface",
+                    "move the moka pots and position them on the stove",
+                    "put each moka pot on the stove side by side",
+                    "place the pair of moka pots on top of the stove",
+                    "lift both moka pots and set them on the stove",
+                    "position the moka pots next to each other on the stove",
+                    "put the two moka pots on the stove burners",
+                    "carefully place both moka pots onto the stove",
+                    "move the moka pots from the counter and place them on the stove",
+                    "put the moka pots on top of the stove in parallel",
+                    "set both moka pots over the stove burners",
+                    "place the moka pots together on the stove\u2019s surface",
+                    "lift both moka pots and gently position them on the stove",
+                    "put the moka pots side by side on the stove top",
+                    "place both moka pots securely on the stove\u2019s heating area",
+                    "move each moka pot to the stove and set them on top",
+                    "set the pair of moka pots neatly on the stove burners",
+                    "put both moka pots on the stove so they\u2019re evenly spaced"
+                ],
+                "put the yellow and white mug in the microwave and close it": [
+                    "put the yellow-and-white mug in the microwave and close it",
+                    "place the yellow-and-white mug inside the microwave, then shut the door",
+                    "open the microwave, insert the yellow-and-white mug, and close it",
+                    "put the mug with yellow and white colors in the microwave and close the door",
+                    "move the yellow-and-white mug into the microwave and shut it afterward",
+                    "carefully place the yellow-and-white mug in the microwave, then close the door",
+                    "Insert the yellow-and-white mug inside the microwave and close it",
+                    "place the yellow-and-white mug into the microwave and push the door closed",
+                    "put the mug in the microwave and close its door",
+                    "slide the yellow-and-white mug into the microwave and close it gently",
+                    "open the microwave, put in the yellow-and-white mug, and close the door afterward",
+                    "place the mug with yellow and white stripes inside the microwave and shut it",
+                    "move the yellow-and-white mug into the microwave chamber and close the door",
+                    "put the yellow-and-white mug inside the microwave oven, then close it",
+                    "Insert the yellow-and-white mug and close the microwave door behind it",
+                    "place the yellow-and-white mug within the microwave compartment and shut it",
+                    "put the yellow-and-white mug inside, then gently close the microwave door",
+                    "carefully move the yellow-and-white mug into the microwave and close it securely",
+                    "put the yellow-and-white mug in the microwave cavity and close the lid",
+                    "open the microwave, add the yellow-and-white mug, and close it properly"
+                ]
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "only_robot_type": "so100",
+        "exclude_tasks": null,
+        "report_task_stats": true
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.images.wrist_image": {
+                "type": "VISUAL",
+                "shape": [
+                    256,
+                    256,
+                    3
+                ]
+            },
+            "observation.images.image": {
+                "type": "VISUAL",
+                "shape": [
+                    256,
+                    256,
+                    3
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    8
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    7
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "combined_frozen_chunk8_yesproprio_diversified_text_prompt_1010",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "use_proprio": true,
+        "chunk_size": 8,
+        "n_action_steps": 8,
+        "normalize_visual": "identity",
+        "normalize_state": "mean_std",
+        "normalize_action": "mean_std",
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            512,
+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "num_steps": 10,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "train_expert_only": true,
+        "train_state_proj": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+        "load_vlm_weights": true,
+        "vlm_model_dtype": "bfloat16",
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": -1,
+        "pad_language_to": "longest",
+        "num_expert_layers": -1,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "outputs/combined_frozen_diversified_text_prompt_1010/combined_frozen_chunk8_yesproprio_diversified_text_prompt_1010/2025-10-11/19-41-37",
+    "exp_name": "combined_frozen_chunk8_yesproprio_diversified_text_prompt_1010/2025-10-11/19-41-37",
+    "group_name": "combined_frozen_diversified_text_prompt_1010",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 8,
+    "batch_size": 64,
+    "update_steps": 50000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "log_with": "wandb",
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "yat4sw2o",
+        "mode": null
+    },
+    "gradient_accumulation_steps": 1,
+    "use_peft": false,
+    "autocast_adapter_dtype": true,
+    "peft": {
+        "target_modules": null,
+        "modules_to_save": null,
+        "method_type": "LORA",
+        "init_type": null,
+        "r": 64,
+        "lora_alpha": 128,
+        "fullfinetune_vlm_patch_embeddings": false,
+        "fullfinetune_vlm_vision_model": false
+    }
+}