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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/README.md b/Table-scale/Tactile/ACE-Data-Tactile-3/README.md
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+# ACE-Data LeRobot v3
+
+Each source video is copied unchanged into its own video file; episode boundaries are recorded in `meta/episodes`. Raw sensor records and sidecars are stored per episode under `raw/`.
+
+The rows in `data/` are canonical reference samples on a fixed-rate timeline. They are not physically synchronized frames shared by every sensor; `frame_index` is retained as the LeRobot-compatible field name for an episode-local reference-sample index. The main data parquet stores scalar indices and half-open raw-row ranges, while actual video bytes remain in `videos/`.
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+{
+  "codebase_version": "v3.0",
+  "robot_type": "ace_human_multimodal",
+  "total_episodes": 16,
+  "total_frames": 60630,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 1024,
+  "fps": 30,
+  "reference_rate_hz": 30,
+  "index_semantics": {
+    "description": "Rows in data/*.parquet are canonical reference samples on a fixed-rate timeline, not physically synchronized frames shared by every sensor.",
+    "frame_index": "LeRobot-compatible name for the episode-local canonical reference-sample index.",
+    "index": "Global canonical reference-sample index across all episodes.",
+    "timestamp": "Episode-local timestamp in seconds used to associate asynchronous video and sensor streams."
+  },
+  "splits": {
+    "train": "0:16"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/episode-{episode_index:06d}.mp4",
+  "features": {
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
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+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
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+    },
+    "index": {
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+      "shape": [
+        1
+      ],
+      "names": null
+    },
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+        1
+      ],
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+    },
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+        1280,
+        1088,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
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+      ],
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+        "video.height": 1280,
+        "video.width": 1088,
+        "video.codec": "mpeg4",
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+        "video.fps": 20.0,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "egocap/cam1": {
+      "dtype": "video",
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+        1280,
+        1088,
+        3
+      ],
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+  }
+}
\ No newline at end of file
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000001.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000001.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000002.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000002.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000003.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000003.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000004.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000004.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000005.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000005.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000006.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000006.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000007.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000007.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000008.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000008.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000009.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000009.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000010.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000010.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000011.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000011.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000012.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000012.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000013.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000013.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000014.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000014.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000015.json b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/calibration/take-000015.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000000.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000000.toml
new file mode 100644
index 0000000000000000000000000000000000000000..500660dfe797e7f61a51f02c7d7659a802841767
--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000001.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000001.toml
new file mode 100644
index 0000000000000000000000000000000000000000..500660dfe797e7f61a51f02c7d7659a802841767
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000001.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000002.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000002.toml
new file mode 100644
index 0000000000000000000000000000000000000000..500660dfe797e7f61a51f02c7d7659a802841767
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000005.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000005.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000006.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000006.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000008.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000008.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000009.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000009.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000012.toml b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/camera_array_aniposelib/take-000012.toml
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+adjusted = false
+error = 0.0
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000000.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa391c93d4b355cc800079acf87da62dcd02c89a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000000.txt
@@ -0,0 +1,16 @@
+Task:
+Pack various medical supplies into a clear plastic container and lock the lid.
+
+Subtasks:
+1. [0.000-4.000] move the empty plastic container on the table
+2. [4.000-24.000] put the green boxes from the table into the plastic container
+3. [24.000-30.000] put the red box from the table into the plastic container
+4. [30.000-46.000] put the green tube from the table into the plastic container
+5. [46.000-54.000] put the white bottle from the table into the plastic container
+6. [54.000-69.000] put the white box from the table into the plastic container
+7. [69.000-85.000] put the blue box from the table into the plastic container
+8. [85.000-97.000] put some small blue packets from the table into the plastic container
+9. [97.000-110.000] put the plastic tray from the table into the plastic container
+10. [110.000-157.000] put the remaining small blue packets from the table into the plastic tray
+11. [157.000-178.000] put the red tweezers from the table into the plastic tray
+12. [178.000-205.000] place the lid from the table onto the plastic container and press the clips until the container is locked
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000001.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000001.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c162d37c65bc3f03cb133ac3bc5a30611554702d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000001.txt
@@ -0,0 +1,25 @@
+Task:
+Pack medical supplies into a storage box.
+
+Subtasks:
+1. [0.000-9.600] move the grey container to the center of the table
+2. [9.600-15.000] place the red and white box from the table into the grey container
+3. [15.000-22.600] place the blue and white box from the table into the grey container
+4. [22.600-28.700] place the teal box from the table into the grey container
+5. [28.700-33.800] place the green box from the table into the grey container
+6. [33.800-46.000] place the green bottle from the table into the grey container
+7. [46.000-58.400] place the white and green packet from the table into the grey container
+8. [58.400-70.300] place the white and red box from the table into the grey container
+9. [70.300-89.800] place the blue packet from the table into the grey container
+10. [89.800-103.700] place the clear tray onto the grey container
+11. [103.700-114.700] place a small blue and white packet from the table into the clear tray
+12. [114.700-124.300] place a small blue and white packet from the table into the clear tray
+13. [124.300-131.700] place two small blue and white packets from the table into the clear tray
+14. [131.700-139.700] place two small blue and white packets from the table into the clear tray
+15. [139.700-149.600] place two small blue and white packets from the table into the clear tray
+16. [149.600-164.800] place two small blue and white packets from the table into the clear tray
+17. [164.800-175.700] place the white roll from the table into the clear tray
+18. [175.700-187.600] place the small clear item from the table into the clear tray
+19. [187.600-202.900] place the lid onto the grey container
+20. [202.900-207.900] fasten the left latch of the lid
+21. [207.900-222.000] fasten the right latch of the lid
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000002.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000002.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b26e38b9e233d939ea829e14ac26bee5657cc34b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000002.txt
@@ -0,0 +1,21 @@
+Task:
+Pack various medical supplies into a first-aid kit box and secure the lid.
+
+Subtasks:
+1. [0.000-9.600] pick up the green medicine box from the table and place the green medicine box into the plastic box
+2. [9.600-13.600] pick up the red medicine box from the table and place the red medicine box into the plastic box
+3. [13.600-20.700] pick up the white medicine box from the table and place the white medicine box into the plastic box
+4. [20.700-28.800] pick up the green bottle from the table and place the green bottle into the plastic box
+5. [28.800-35.100] pick up the small white medicine box from the table and place the small white medicine box into the plastic box
+6. [35.100-41.900] pick up the dark blue medicine box from the table and place the dark blue medicine box into the plastic box
+7. [41.900-47.500] pick up the second white medicine box from the table and place the second white medicine box into the plastic box
+8. [47.500-54.800] pick up the light blue medicine box from the table and place the light blue medicine box into the plastic box
+9. [54.800-60.800] pick up the plastic tray from the table and place the plastic tray into the plastic box
+10. [60.800-65.100] pick up the white oval object from the table and place the white oval object into the plastic tray
+11. [65.100-70.100] pick up the white packet from the table and place the white packet into the plastic tray
+12. [70.100-77.400] pick up the blue packets from the table and place the blue packets into the plastic tray
+13. [77.400-83.100] pick up the remaining blue packets from the table and place the remaining blue packets into the plastic tray
+14. [83.100-91.900] pick up the scissors from the table and place the scissors into the plastic tray
+15. [91.900-100.800] move the plastic box to the center of the table
+16. [100.800-110.800] pick up the lid from the table and place the lid onto the plastic box
+17. [110.800-117.000] lock the lid onto the plastic box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000003.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000003.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98890b6bef4265ad084f54e81dc88589ca67300c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000003.txt
@@ -0,0 +1,25 @@
+Task:
+Pack various medical supplies into a gray box and lock the lid.
+
+Subtasks:
+1. [0.000-5.500] pick up a white box from the table and place the white box into the gray box
+2. [5.500-9.100] pick up another white box from the table and place the white box into the gray box
+3. [9.100-19.100] pick up a yellow box from the table and place the yellow box into the gray box
+4. [19.100-23.700] pick up a small white box from the table and place the small white box into the gray box
+5. [23.700-33.700] pick up a red and white box from the table and place the red and white box into the gray box
+6. [33.700-39.700] pick up a green box from the table and place the green box into the gray box
+7. [39.700-46.700] pick up a teal box from the table and place the teal box into the gray box
+8. [46.700-52.700] pick up a blue bottle from the table and place the blue bottle into the gray box
+9. [52.700-57.800] pick up a blue packet from the table and place the blue packet into the gray box
+10. [57.800-66.500] pick up a green bottle from the table and place the green bottle into the gray box
+11. [66.500-81.300] pick up a gray tray from the table and place the gray tray into the gray box
+12. [81.300-90.500] pick up a blue packet from the table and place the blue packet into the gray tray
+13. [90.500-97.300] pick up a blue packet from the table and place the blue packet into the gray tray
+14. [97.300-102.300] pick up a blue packet from the table and place the blue packet into the gray tray
+15. [102.300-114.300] pick up two blue packets from the table and place the blue packets into the gray tray
+16. [114.300-119.500] pick up a white packet from the table and place the white packet into the gray tray
+17. [119.500-128.500] pick up a blue packet from the table and place the blue packet into the gray tray
+18. [128.500-135.500] pick up a blue packet from the table and place the blue packet into the gray tray
+19. [135.500-142.500] pick up the lid from the table and place the lid onto the gray box
+20. [142.500-148.500] lock the left latch of the gray box
+21. [148.500-165.000] lock the right latch of the gray box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000004.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000004.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b12902753b86725fca66136f7e40d5e7f4ed517c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000004.txt
@@ -0,0 +1,23 @@
+Task:
+Organize a medical kit by placing various medicines and medical supplies into a container and securing the lid.
+
+Subtasks:
+1. [0.000-4.000] pick up a light blue medicine box from the table and place the light blue medicine box into the container
+2. [4.000-7.000] pick up a red and white medicine box from the table and place the red and white medicine box into the container
+3. [7.000-15.000] pick up a white medicine box from the table and place the white medicine box into the container
+4. [15.000-19.000] pick up a green medicine box from the table and place the green medicine box into the container
+5. [19.000-26.000] pick up a green bottle from the table and place the green bottle into the container
+6. [26.000-33.000] pick up a small white medicine box from the table and place the small white medicine box into the container
+7. [33.000-39.000] pick up a small green medicine box from the table and place the small green medicine box into the container
+8. [39.000-44.000] pick up a long white medicine box from the table and place the long white medicine box into the container
+9. [44.000-49.000] pick up a blue packet from the table and place the blue packet into the container
+10. [49.000-54.000] pick up the inner tray from the table and place the inner tray into the container
+11. [54.000-64.000] pick up a paper from the table and place the paper into the inner tray
+12. [64.000-69.000] pick up scissors and tweezers from the table and place the scissors and tweezers into the inner tray
+13. [69.000-75.000] pick up two blue packets from the table and place the two blue packets into the inner tray
+14. [75.000-81.000] pick up two blue packets from the table and place the two blue packets into the inner tray
+15. [81.000-86.000] pick up two blue packets from the table and place the two blue packets into the inner tray
+16. [86.000-94.000] pick up two blue packets from the table and place the two blue packets into the inner tray
+17. [94.000-102.000] pick up two blue packets from the table and place the two blue packets into the inner tray
+18. [102.000-114.000] pick up the lid from the table and place the lid onto the container
+19. [114.000-123.000] fasten the latches on both sides of the lid until the lid is secured
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000005.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000005.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b6edc7e41a0e3fbd35dca99426e9a49bbc12f70
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000005.txt
@@ -0,0 +1,21 @@
+Task:
+Place all the cups from the table into the white box and close the box.
+
+Subtasks:
+1. [0.000-4.100] pick up a cup from the table
+2. [4.100-8.500] put the cup into the white box
+3. [8.500-11.300] pick up a cup from the table
+4. [11.300-15.500] put the cup into the white box
+5. [15.500-18.900] pick up a cup from the table
+6. [18.900-21.800] put the cup into the white box
+7. [21.800-24.700] pick up a cup from the table
+8. [24.700-27.400] put the cup into the white box
+9. [27.400-29.800] pick up a cup from the table
+10. [29.800-33.200] put the cup into the white box
+11. [33.200-35.800] pick up a cup from the table
+12. [35.800-39.100] put the cup into the white box
+13. [39.100-42.500] pick up a cup from the table
+14. [42.500-45.300] put the cup into the white box
+15. [45.300-48.300] pick up a cup from the table
+16. [48.300-52.500] put the cup into the white box
+17. [52.500-64.050] close the white box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000006.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000006.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89d5d96ef3f6e34f5b57dd84ac6ad191ec99fff7
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000006.txt
@@ -0,0 +1,15 @@
+Task:
+Place the glass cups from the table into the white shelf and close the white shelf.
+
+Subtasks:
+1. [0.000-9.000] pick up a glass cup from the table and place the glass cup into the white shelf
+2. [9.000-13.000] pick up a glass cup from the table and place the glass cup into the white shelf
+3. [13.000-18.000] pick up a glass cup from the table and place the glass cup into the white shelf
+4. [18.000-23.000] pick up a glass cup from the table and place the glass cup into the white shelf
+5. [23.000-30.000] pick up a glass cup from the table and place the glass cup into the white shelf
+6. [30.000-35.000] pick up a glass cup from the table and place the glass cup into the white shelf
+7. [35.000-38.000] pick up a glass cup from the table and place the glass cup into the white shelf
+8. [38.000-42.000] pick up a glass cup from the table and place the glass cup into the white shelf
+9. [42.000-48.000] pick up a glass cup from the table and place the glass cup into the white shelf
+10. [48.000-54.000] pick up a glass cup from the table and place the glass cup into the white shelf
+11. [54.000-60.000] close the white shelf
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000007.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000007.txt
new file mode 100644
index 0000000000000000000000000000000000000000..391e6414efd8f00a17e1f71f5e5aa5fd362a0f12
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000007.txt
@@ -0,0 +1,29 @@
+Task:
+Put all glass cups from the table into the white box and close the lid.
+
+Subtasks:
+1. [0.000-4.100] pick up the glass cup from the table
+2. [4.100-7.500] move the glass cup to the white box
+3. [7.500-11.200] place the glass cup into the white box
+4. [11.200-14.300] pick up the glass cup from the table
+5. [14.300-16.800] move the glass cup to the white box
+6. [16.800-19.400] place the glass cup into the white box
+7. [19.400-22.000] pick up the glass cup from the table
+8. [22.000-23.900] move the glass cup to the white box
+9. [23.900-26.100] place the glass cup into the white box
+10. [26.100-27.500] pick up the glass cup from the table
+11. [27.500-29.000] move the glass cup to the white box
+12. [29.000-30.900] place the glass cup into the white box
+13. [30.900-32.400] pick up the glass cup from the table
+14. [32.400-33.700] move the glass cup to the white box
+15. [33.700-35.400] place the glass cup into the white box
+16. [35.400-36.500] pick up the glass cup from the table
+17. [36.500-37.700] move the glass cup to the white box
+18. [37.700-39.400] place the glass cup into the white box
+19. [39.400-41.200] pick up the glass cup from the table
+20. [41.200-43.000] move the glass cup to the white box
+21. [43.000-44.700] place the glass cup into the white box
+22. [44.700-46.800] pick up the glass cup from the table
+23. [46.800-48.800] move the glass cup to the white box
+24. [48.800-51.600] place the glass cup into the white box
+25. [51.600-55.000] close the white box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000008.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000008.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e114ea607e61221841421a82d7cfd89a48c29e94
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000008.txt
@@ -0,0 +1,28 @@
+Task:
+Pack medical supplies into a container and close it with a lid
+
+Subtasks:
+1. [0.000-5.000] pull the empty gray container closer on the table
+2. [5.000-13.000] put the large green medicine box into the gray container
+3. [13.000-17.000] put the white medicine box into the gray container
+4. [17.000-22.000] put the small green box into the gray container
+5. [22.000-27.000] put the red bandage box into the gray container
+6. [27.000-34.000] put the green bottle into the gray container
+7. [34.000-43.100] adjust the items inside the gray container
+8. [43.100-47.700] put a second white medicine box into the gray container
+9. [47.700-52.000] put the small green bottle into the gray container
+10. [52.000-61.000] adjust the items inside the gray container
+11. [61.000-64.000] put the white and red box into the gray container
+12. [64.000-67.500] put the long white box into the gray container
+13. [67.500-71.800] put the blue packet into the gray container
+14. [71.800-93.200] adjust the items inside the gray container to make space
+15. [93.200-104.800] place the clear plastic tray into the gray container
+16. [104.800-144.000] put the small blue and white packets from the table into the clear plastic tray
+17. [144.000-155.500] put the small white packets from the table into the clear plastic tray
+18. [155.500-160.200] put the small white tube from the table into the clear plastic tray
+19. [160.200-165.100] put the small white box from the table into the clear plastic tray
+20. [165.100-174.000] put the red tweezers from the table into the clear plastic tray
+21. [174.000-180.300] pick up the lid from the table
+22. [180.300-189.000] place the lid onto the gray container
+23. [189.000-195.000] snap the side latches of the lid to secure the lid onto the gray container
+24. [195.000-205.000] move hands away from the gray container and rest the hands on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000009.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000009.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d943a7596395b5f55e19c6691480a1d7fd26f7e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000009.txt
@@ -0,0 +1,24 @@
+Task:
+Pack various medical supplies into a grey storage box.
+
+Subtasks:
+1. [0.000-10.800] move the grey storage box on the table
+2. [10.800-23.700] place the band-aids into the grey storage box
+3. [23.700-29.000] place the small green box into the grey storage box
+4. [29.000-35.100] place the green box into the grey storage box
+5. [35.100-41.200] place the green bottle into the grey storage box
+6. [41.200-48.400] place the white box into the grey storage box
+7. [48.400-54.700] place the blue box into the grey storage box
+8. [54.700-63.500] place the green box into the grey storage box
+9. [63.500-70.100] place the red and white box into the grey storage box
+10. [70.100-81.800] place the red box into the grey storage box
+11. [81.800-91.800] rearrange the medicine boxes in the grey storage box
+12. [91.800-101.400] place the alcohol pads on the table
+13. [101.400-112.500] place the inner tray into the grey storage box
+14. [112.500-160.700] place the alcohol pads into the inner tray
+15. [160.700-167.300] place the tape into the inner tray
+16. [167.300-174.100] place the cotton pad into the inner tray
+17. [174.100-180.200] place the scissors into the inner tray
+18. [180.200-186.200] place the tweezers into the inner tray
+19. [186.200-202.900] cover the grey storage box with the lid
+20. [202.900-221.000] lock the grey storage box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000010.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000010.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd11590bce75fba0119f42e473e88a5a682910ea
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000010.txt
@@ -0,0 +1,21 @@
+Task:
+Pack medical supplies into a grey storage box.
+
+Subtasks:
+1. [0.000-9.000] place the green and white box into the grey box
+2. [9.000-15.000] place the red and white box into the grey box
+3. [15.000-22.000] place the green box into the grey box
+4. [22.000-28.000] place the green bottle into the grey box
+5. [28.000-32.000] place the long white box into the grey box
+6. [32.000-46.000] place the white and blue box into the grey box
+7. [46.000-54.000] place the blue and white box into the grey box
+8. [54.000-60.000] place the clear plastic tray into the grey box
+9. [60.000-64.000] place the white object into the clear plastic tray
+10. [64.000-68.000] place the white packet into the clear plastic tray
+11. [68.000-73.000] place the first blue packet into the clear plastic tray
+12. [73.000-77.000] place the second blue packet into the clear plastic tray
+13. [77.000-81.000] place the third blue packet into the clear plastic tray
+14. [81.000-85.000] place the fourth blue packet into the clear plastic tray
+15. [85.000-89.000] place the blue tweezers into the clear plastic tray
+16. [89.000-108.000] place the lid onto the grey box until the box is closed
+17. [108.000-117.000] move the grey box on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000011.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000011.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c48cf7164ba7e5cafcb4f2de49bc96aec18f72d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000011.txt
@@ -0,0 +1,29 @@
+Task:
+Pack various medical supplies into a storage container to assemble a first aid kit.
+
+Subtasks:
+1. [0.000-4.000] pick up the white and green boxes from the table
+2. [4.000-9.000] place the white and green boxes into the plastic box
+3. [9.000-15.000] pick up the red and white boxes from the table
+4. [15.000-20.000] place the red and white boxes into the plastic box
+5. [20.000-27.000] pick up the long white box from the table
+6. [27.000-30.000] place the long white box into the plastic box
+7. [30.000-35.000] pick up the small green box and bottle from the table
+8. [35.000-39.000] place the small green box and bottle into the plastic box
+9. [39.000-41.000] pick up the blue box from the table
+10. [41.000-45.000] place the blue box into the plastic box
+11. [45.000-49.000] pick up the thermometer from the table
+12. [49.000-51.000] place the thermometer into the plastic box
+13. [51.000-54.000] pick up the blue packet from the table
+14. [54.000-56.000] place the blue packet into the plastic box
+15. [56.000-63.000] pick up the green bottle and white tube from the table
+16. [63.000-66.000] place the green bottle and white tube into the plastic box
+17. [66.000-75.000] pick up the tray from the table
+18. [75.000-81.000] place the tray into the plastic box
+19. [81.000-106.000] pick up the small packets from the table
+20. [106.000-109.000] place the small packets into the tray
+21. [109.000-131.000] pick up the remaining small packets from the table
+22. [131.000-134.000] place the remaining small packets into the tray
+23. [134.000-142.000] pick up the lid from the table
+24. [142.000-146.000] place the lid onto the plastic box
+25. [146.000-165.000] fasten the latches on the plastic box until the box is closed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000012.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000012.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2de83805963e297c5b98afad4ec3acff7dfe0101
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000012.txt
@@ -0,0 +1,26 @@
+Task:
+Pack various medical supplies into a first aid kit and securely close the lid.
+
+Subtasks:
+1. [0.000-4.500] put the cyan box from the table into the grey bin
+2. [4.500-9.500] put the red and white box from the table into the grey bin
+3. [9.500-14.600] put the bandage box from the table into the grey bin
+4. [14.600-19.400] put the large green box from the table into the grey bin
+5. [19.400-26.500] put the green bottle from the table into the grey bin
+6. [26.500-32.400] put the white bottle from the table into the grey bin
+7. [32.400-37.400] put the small green box from the table into the grey bin
+8. [37.400-43.700] put the white box from the table into the grey bin
+9. [43.700-50.000] put the blue packet from the table into the grey bin
+10. [50.000-55.700] place the tray from the table onto the grey bin
+11. [55.700-61.000] put the small white packet from the table into the tray
+12. [61.000-66.900] put the scissors from the table into the tray
+13. [66.900-73.200] put the tweezers from the table into the tray
+14. [73.200-78.900] put the small blue packet from the table into the tray
+15. [78.900-83.900] put the second small blue packet from the table into the tray
+16. [83.900-88.900] put the third small blue packet from the table into the tray
+17. [88.900-94.900] put the large blue packet from the table into the tray
+18. [94.900-102.200] put the second large blue packet from the table into the tray
+19. [102.200-108.000] place the lid from the table onto the grey bin
+20. [108.000-111.600] fasten the right latch of the lid
+21. [111.600-115.200] rotate the grey bin on the table
+22. [115.200-123.000] fasten the left latch of the lid
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000013.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000013.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cf47f581c6e97bd7d040469385c724b8acf484e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000013.txt
@@ -0,0 +1,21 @@
+Task:
+Place all the glasses from the table into the box and close it.
+
+Subtasks:
+1. [0.000-4.000] pick up the glass from the table
+2. [4.000-8.000] place the glass into the box
+3. [8.000-12.000] pick up the glass from the table
+4. [12.000-15.000] place the glass into the box
+5. [15.000-18.000] pick up the glass from the table
+6. [18.000-22.000] place the glass into the box
+7. [22.000-25.000] pick up the glass from the table
+8. [25.000-29.000] place the glass into the box
+9. [29.000-32.000] pick up the glass from the table
+10. [32.000-35.000] place the glass into the box
+11. [35.000-38.000] pick up the glass from the table
+12. [38.000-42.000] place the glass into the box
+13. [42.000-45.000] pick up the glass from the table
+14. [45.000-48.000] place the glass into the box
+15. [48.000-51.000] pick up the glass from the table
+16. [51.000-55.000] place the glass into the box
+17. [55.000-64.050] close the box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000014.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..484d0d0c37704a0886397154d19f20707c7a43b2
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000014.txt
@@ -0,0 +1,16 @@
+Task:
+Put all the glasses from the table into the container and close the lid.
+
+Subtasks:
+1. [0.000-3.300] pick up a glass from the table
+2. [3.300-10.400] place the glass into the container
+3. [10.400-15.600] pick up a glass from the table
+4. [15.600-19.300] place the glass into the container
+5. [19.300-26.600] pick up a glass from the table
+6. [26.600-32.400] place the glass into the container
+7. [32.400-35.700] move the glasses inside the container
+8. [35.700-42.800] pick up a glass from the table
+9. [42.800-48.000] place the glass into the container
+10. [48.000-52.800] pick up a glass from the table
+11. [52.800-56.600] place the glass into the container
+12. [56.600-60.000] pull down the lid of the container until the container is closed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000015.txt b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000015.txt
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--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-3/raw/captions/take-000015.txt
@@ -0,0 +1,22 @@
+Task:
+Place all the cups from the table into the box and close the lid.
+
+Subtasks:
+1. [0.000-4.100] pick up a cup from the table
+2. [4.100-8.500] move the cup towards the box
+3. [8.500-11.500] place the cup into the box
+4. [11.500-14.700] pick up a cup from the table
+5. [14.700-18.000] place the cup into the box
+6. [18.000-22.100] pick up a cup from the table
+7. [22.100-24.900] place the cup into the box
+8. [24.900-27.100] pick up a cup from the table
+9. [27.100-29.300] place the cup into the box
+10. [29.300-31.500] pick up a cup from the table
+11. [31.500-33.800] place the cup into the box
+12. [33.800-37.100] pick up a cup from the table
+13. [37.100-41.500] place the cup into the box
+14. [41.500-44.500] pick up a cup from the table
+15. [44.500-47.500] place the cup into the box
+16. [47.500-50.600] pick up a cup from the table
+17. [50.600-53.100] place the cup into the box
+18. [53.100-55.000] close the lid of the box until the box is closed
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-4/README.md b/Table-scale/Tactile/ACE-Data-Tactile-4/README.md
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+# ACE-Data LeRobot v3
+
+Each source video is copied unchanged into its own video file; episode boundaries are recorded in `meta/episodes`. Raw sensor records and sidecars are stored per episode under `raw/`.
+
+The rows in `data/` are canonical reference samples on a fixed-rate timeline. They are not physically synchronized frames shared by every sensor; `frame_index` is retained as the LeRobot-compatible field name for an episode-local reference-sample index. The main data parquet stores scalar indices and half-open raw-row ranges, while actual video bytes remain in `videos/`.
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+{
+  "codebase_version": "v3.0",
+  "robot_type": "ace_human_multimodal",
+  "total_episodes": 187,
+  "total_frames": 472950,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 1024,
+  "fps": 30,
+  "reference_rate_hz": 30,
+  "index_semantics": {
+    "description": "Rows in data/*.parquet are canonical reference samples on a fixed-rate timeline, not physically synchronized frames shared by every sensor.",
+    "frame_index": "LeRobot-compatible name for the episode-local canonical reference-sample index.",
+    "index": "Global canonical reference-sample index across all episodes.",
+    "timestamp": "Episode-local timestamp in seconds used to associate asynchronous video and sensor streams."
+  },
+  "splits": {
+    "train": "0:187"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/episode-{episode_index:06d}.mp4",
+  "features": {
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+      "dtype": "float32",
+      "shape": [
+        1
+      ],
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+        ]
+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-4/raw/calibration/take-000004.json b/Table-scale/Tactile/ACE-Data-Tactile-4/raw/calibration/take-000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-4/raw/calibration/take-000004.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file