灵巧手的数据格式： task_info/task_327.json： { "episode_id": 649078, "task_id": 327, "task_name": "Picking items in Supermarket", "init_scene_text": "The robot is in front of the fruit shelf...", "lable_info": { "action_config": [ {"start_frame": 0, "end_frame": 435, "action_text": "Pick up onion from the shelf.", "skill": "Pick"}, {"start_frame": 435, "end_frame": 619, "action_text": "Place onion into the plastic bag.", "skill": "Place"} ] } } 亮点：指令不是整段一个，而是按帧区间切片 + 原子技能(skill)标签分层标注。 这比我们 language_instruction.json 只标一个 segment 更细——它把"拿起→放下"拆成两个子动作各配指令。 这正是高质量示教数据的做法。