ERRATUM: task labels misaligned (lexicographic episode order)

README.md

@@ -4,6 +4,16 @@ task_categories: [robotics]
 tags: [lerobot, so100, so101, maniskill, simulation, pick-and-place, language-conditioned, domain-randomization, ci-mse]
 pretty_name: SO-100 "put the {color} cube in the bowl" (ManiSkill sim) — v2
 ---
+> **⚠️ ERRATUM (2026-09-13): task labels in this dataset are misaligned with the episodes.**
+> The ManiSkill→LeRobot converter stored trajectories in lexicographic key order (`traj_0, traj_1, traj_10, …`) while the
+> per-episode language labels were assigned in numeric order, so about two thirds of episodes carry the wrong cube colour
+> in `task` / `task_index` / `meta/episode_targets.json`. Actions, states and videos are correct and internally consistent;
+> only the language label is permuted. Corrected per-episode targets are in `meta/episode_targets_fixed.json`
+> (dataset episode *k* holds raw trajectory `lex[k]`, `lex = sorted(range(N), key=lambda i: f"traj_{i}")`).
+> A relabelled release will replace the `task` columns; until then do not use the `task` column as-is for training or
+> evaluation. Results in `Kavin60606/cimse-so100-experiment-v2` that depend on language grounding are affected (see its README).
+
+
 # SO-100 pick-cube-into-bowl (ManiSkill3, domain-randomized) — v2 train
 
 Language-conditioned pick-and-place on a simulated SO-100: three coloured cubes (red/green/blue) and a bowl at random poses,