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diff --git a/Simulation/GelSight_mini/roughness_classify/README.md b/Simulation/GelSight_mini/roughness_classify/README.md
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+# roughness_classify (OpenViTac simulation, LeRobot v2.1)
+
+100 episodes; 14055 frames; 60 FPS.
+
+Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
+
+Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
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diff --git a/Simulation/GelSight_mini/roughness_classify/meta/dataset_metadata.json b/Simulation/GelSight_mini/roughness_classify/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ef1f3278992b3f87dd8043963c91d01a344be2
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/dataset_metadata.json
@@ -0,0 +1,40 @@
+{
+  "batch_key": "roughness_classify",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/roughness_classify",
+  "source_variants": [
+    "rough",
+    "smooth"
+  ],
+  "instructions": [
+    "Classify the block surface by touch: place the smooth block on the blue plate and the rough block on the yellow plate."
+  ],
+  "robot": "Franka",
+  "tactile_sensor": "GelSight_mini_simulated",
+  "fps": 60,
+  "fps_basis": "120 Hz simulation, nominal source step interval 2",
+  "source_step_gap_policy": "timestamps use frame_index / 60; source step exceptions are retained in conversion_manifest.jsonl",
+  "eef_frame": "simulation_world",
+  "source_quaternion_order": "wxyz",
+  "stored_quaternion_order": "xyzw",
+  "rotation_matrix_flattening": "row_major",
+  "joint_position_units": "radians",
+  "finger_position_units": "metres",
+  "gripper_width_m": "left_finger_m + right_finger_m",
+  "gripper_open_fraction": "clip((left_finger_m + right_finger_m) / 0.08, 0, 1); 0 closed, 1 fully open",
+  "action": null,
+  "source_image_channel_order": "BGR",
+  "stored_video_channel_order": "RGB",
+  "image_channel_correction": "swap red and blue before video encoding and image statistics",
+  "image_sources": {
+    "observation.images.head": "observation/head/rgb",
+    "observation.images.wrist": "observation/wrist/rgb",
+    "observation.images.tactile_left": "tactile/left_tactile/rgb_marker",
+    "observation.images.tactile_right": "tactile/right_tactile/rgb_marker"
+  },
+  "image_statistics": "LeRobot v2.1 sampling policy applied to decoded, channel-corrected HDF5 images",
+  "lerobot_codebase_version": "v2.1",
+  "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+  "episodes": 100,
+  "frames": 14055
+}
diff --git a/Simulation/GelSight_mini/roughness_classify/meta/episodes.jsonl b/Simulation/GelSight_mini/roughness_classify/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d519b5a64f2f7f4e3250a7c1e28c927105b24ab9
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/Simulation/GelSight_mini/roughness_classify/meta/episodes_stats.jsonl b/Simulation/GelSight_mini/roughness_classify/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..223f0c6e8fa7c604e098c9e4bd6fc2b0243a5286
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
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diff --git a/Simulation/GelSight_mini/roughness_classify/meta/info.json b/Simulation/GelSight_mini/roughness_classify/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7413665ee3b8b16962a29ca580ea92f8812e7183
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/info.json
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+}
\ No newline at end of file
diff --git a/Simulation/GelSight_mini/roughness_classify/meta/stats.json b/Simulation/GelSight_mini/roughness_classify/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d85291be6820697bdc87a473b54ee07d436dfb54
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/stats.json
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diff --git a/Simulation/GelSight_mini/roughness_classify/meta/tasks.jsonl b/Simulation/GelSight_mini/roughness_classify/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97d071277432bd32e840df24eda490afd1a6161a
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Classify the block surface by touch: place the smooth block on the blue plate and the rough block on the yellow plate."}
diff --git a/Simulation/GelSight_mini/roughness_classify/meta/video_validation.json b/Simulation/GelSight_mini/roughness_classify/meta/video_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..733fcd8cbda5037dcc82cf001b87eff83dd316f8
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_classify/meta/video_validation.json
@@ -0,0 +1,2802 @@
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diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/README.md b/Simulation/GelSight_mini/roughness_guided_regrasp/README.md
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+# roughness_guided_regrasp (OpenViTac simulation, LeRobot v2.1)
+
+100 episodes; 18995 frames; 60 FPS.
+
+Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
+
+Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
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diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/meta/dataset_metadata.json b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95674960456b484ca6e3e10db54a064bdaeb402
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/dataset_metadata.json
@@ -0,0 +1,42 @@
+{
+  "batch_key": "roughness_guided_regrasp",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/roughness_guided_regrasp",
+  "source_variants": [
+    "rough_left/grasp_left",
+    "rough_left/grasp_right",
+    "rough_right/grasp_left",
+    "rough_right/grasp_right"
+  ],
+  "instructions": [
+    "Find the rough block by touch and place it on the yellow plate."
+  ],
+  "robot": "Franka",
+  "tactile_sensor": "GelSight_mini_simulated",
+  "fps": 60,
+  "fps_basis": "120 Hz simulation, nominal source step interval 2",
+  "source_step_gap_policy": "timestamps use frame_index / 60; source step exceptions are retained in conversion_manifest.jsonl",
+  "eef_frame": "simulation_world",
+  "source_quaternion_order": "wxyz",
+  "stored_quaternion_order": "xyzw",
+  "rotation_matrix_flattening": "row_major",
+  "joint_position_units": "radians",
+  "finger_position_units": "metres",
+  "gripper_width_m": "left_finger_m + right_finger_m",
+  "gripper_open_fraction": "clip((left_finger_m + right_finger_m) / 0.08, 0, 1); 0 closed, 1 fully open",
+  "action": null,
+  "source_image_channel_order": "BGR",
+  "stored_video_channel_order": "RGB",
+  "image_channel_correction": "swap red and blue before video encoding and image statistics",
+  "image_sources": {
+    "observation.images.head": "observation/head/rgb",
+    "observation.images.wrist": "observation/wrist/rgb",
+    "observation.images.tactile_left": "tactile/left_tactile/rgb_marker",
+    "observation.images.tactile_right": "tactile/right_tactile/rgb_marker"
+  },
+  "image_statistics": "LeRobot v2.1 sampling policy applied to decoded, channel-corrected HDF5 images",
+  "lerobot_codebase_version": "v2.1",
+  "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+  "episodes": 100,
+  "frames": 18995
+}
diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/meta/episodes.jsonl b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c23519f3de4a359959e4e6092461af535fa3886e
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/episodes.jsonl
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diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/meta/episodes_stats.jsonl b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e7d87eeebdf60dca2cdb8ce4245e07f2e6579b0
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/episodes_stats.jsonl
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diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/meta/info.json b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..41c35a913f573f48f913a45337b8a950282ff8bc
--- /dev/null
+++ b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/info.json
@@ -0,0 +1,250 @@
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new file mode 100644
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diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/meta/tasks.jsonl b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8eaec24f6c13b07e8855aab9a26bf36f09b33379
--- /dev/null
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diff --git a/Simulation/GelSight_mini/roughness_guided_regrasp/meta/video_validation.json b/Simulation/GelSight_mini/roughness_guided_regrasp/meta/video_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..58988fc48a4325c862fde5f3abb283742e05e1ab
--- /dev/null
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