diff --git a/docs/pages/example_workflows/static_apple/step_3_policy_training.rst b/docs/pages/example_workflows/static_apple/step_3_policy_training.rst
index 09cb4c313..92c2b9845 100644
--- a/docs/pages/example_workflows/static_apple/step_3_policy_training.rst
+++ b/docs/pages/example_workflows/static_apple/step_3_policy_training.rst
@@ -93,7 +93,7 @@ The converter is controlled by a config file at
       hdf5_name: "arena_g1_static_apple_dataset_recorded.hdf5"
 
       # Task description
-      language_instruction: "Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
+      language_instruction: "move the apple to the plate"
       task_index: 3
 
       # Data field mappings
diff --git a/isaaclab_arena_gr00t/lerobot/config/g1_static_apple_config.yaml b/isaaclab_arena_gr00t/lerobot/config/g1_static_apple_config.yaml
index c1e191ca6..c57b0c803 100644
--- a/isaaclab_arena_gr00t/lerobot/config/g1_static_apple_config.yaml
+++ b/isaaclab_arena_gr00t/lerobot/config/g1_static_apple_config.yaml
@@ -11,7 +11,7 @@
 data_root: "/datasets/isaaclab_arena/static_apple_tutorial"
 
 # Instruction given to the policy in natural language
-language_instruction: "Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
+language_instruction: "move the apple to the plate"
 task_index: 3
 
 # Name of the HDF5 file to use for the dataset (matches the recorder output from
diff --git a/isaaclab_arena_gr00t/policy/config/g1_static_apple_gr00t_closedloop_config.yaml b/isaaclab_arena_gr00t/policy/config/g1_static_apple_gr00t_closedloop_config.yaml
index ee2d99e21..cab7d2add 100644
--- a/isaaclab_arena_gr00t/policy/config/g1_static_apple_gr00t_closedloop_config.yaml
+++ b/isaaclab_arena_gr00t/policy/config/g1_static_apple_gr00t_closedloop_config.yaml
@@ -15,7 +15,7 @@
 #              (mount $MODELS_DIR -> /models, e.g. via `run_gr00t_server.sh -m $MODELS_DIR` or
 #               `-v $MODELS_DIR:/models` on raw `docker run`).
 model_path: /models/isaaclab_arena/static_apple_tutorial/static_apple_n17_finetune/checkpoint-20000
-language_instruction: "Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
+language_instruction: "move the apple to the plate"
 
 # Must match the diffusion head's action_horizon baked into the finetuned checkpoint
 # (set via the action modality's `delta_indices=list(range(N))` in