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diff --git a/vrh3_serving_bottle_full_scene/meta/episodes_stats.jsonl b/vrh3_serving_bottle_full_scene/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d3fc82b96c4719d0e214a5d4d9728bc8a19b9ef
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/meta/episodes_stats.jsonl
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diff --git a/vrh3_serving_bottle_full_scene/meta/info.json b/vrh3_serving_bottle_full_scene/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d904d276b037c8f58bce6aa24b46e1eb28e8ca
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/meta/info.json
@@ -0,0 +1,194 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "vrh3",
+    "total_episodes": 99,
+    "total_frames": 27752,
+    "total_tasks": 1,
+    "total_videos": 297,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:99"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": {
+                "displacement": [
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint"
+                ]
+            }
+        },
+        "observation.state": {
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+            ],
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+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
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+                640,
+                3
+            ],
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+                "width",
+                "channels"
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+                640,
+                3
+            ],
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+                "height",
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+                "channels"
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+                "video.width": 640,
+                "video.codec": "h264",
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+                640,
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+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/vrh3_serving_bottle_full_scene/meta/modality.json b/vrh3_serving_bottle_full_scene/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..8afb8cebea522b0710b39e19c75ed2165b528258
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/meta/modality.json
@@ -0,0 +1,46 @@
+{
+  "state": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "action": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "video": {
+    "cam_front": {
+      "original_key": "observation.images.color.front"
+    },
+    "cam_left": {
+      "original_key": "observation.images.color.left"
+    },
+    "cam_right": {
+      "original_key": "observation.images.color.right"
+    }
+  },
+  "annotation": {
+    "human.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
diff --git a/vrh3_serving_bottle_full_scene/meta/tasks.jsonl b/vrh3_serving_bottle_full_scene/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e65b97ad688a4451316030d74c49eab66dfafa92
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Use the left hand to grasp the nearest turquoise bottle, and serve it into the customer's hand."}
diff --git a/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000000.mp4 b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..071c1b97c7f2fa104a1cf283c8a3b7042a6b5d71
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70514189d6e9c24eaf9d8ed7e85c1db153f00aed86e19d9d0ade7fa75caf7667
+size 2777276
diff --git a/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000001.mp4 b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..497ffca33ff9ecfc0f8f7aaa156db70bfdd133a9
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000001.mp4
@@ -0,0 +1,3 @@
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diff --git a/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000002.mp4 b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd09149be7e91c7223b9b3b4f1e17ce2f87a0d98
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000002.mp4
@@ -0,0 +1,3 @@
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diff --git a/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000003.mp4 b/vrh3_serving_bottle_full_scene/videos/chunk-000/observation.images.color.front/episode_000003.mp4
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diff --git a/vrh3_serving_bottle_full_scene_testset/meta/info.json b/vrh3_serving_bottle_full_scene_testset/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5c921979f0fc8ced506f0387de4975cc876006
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene_testset/meta/info.json
@@ -0,0 +1,194 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "vrh3",
+    "total_episodes": 16,
+    "total_frames": 4358,
+    "total_tasks": 1,
+    "total_videos": 48,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:16"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
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+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint"
+                ]
+            }
+        },
+        "observation.state": {
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+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
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+                    "R_middle_1_joint",
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+                "channels"
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+                3
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
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+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+        },
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+                1
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+        "task_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/vrh3_serving_bottle_full_scene_testset/meta/modality.json b/vrh3_serving_bottle_full_scene_testset/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..8afb8cebea522b0710b39e19c75ed2165b528258
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene_testset/meta/modality.json
@@ -0,0 +1,46 @@
+{
+  "state": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "action": {
+    "arm": {
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+      "end": 14
+    },
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+      "end": 20
+    },
+    "right_hand": {
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+      "end": 26
+    }
+  },
+  "video": {
+    "cam_front": {
+      "original_key": "observation.images.color.front"
+    },
+    "cam_left": {
+      "original_key": "observation.images.color.left"
+    },
+    "cam_right": {
+      "original_key": "observation.images.color.right"
+    }
+  },
+  "annotation": {
+    "human.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
diff --git a/vrh3_serving_bottle_full_scene_testset/meta/tasks.jsonl b/vrh3_serving_bottle_full_scene_testset/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e65b97ad688a4451316030d74c49eab66dfafa92
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene_testset/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Use the left hand to grasp the nearest turquoise bottle, and serve it into the customer's hand."}
diff --git a/vrh3_serving_bottle_full_scene_testset/videos/chunk-000/observation.images.color.front/episode_000000.mp4 b/vrh3_serving_bottle_full_scene_testset/videos/chunk-000/observation.images.color.front/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0746b8f07efe2a9f99e683bcd80241ae447f88d
--- /dev/null
+++ b/vrh3_serving_bottle_full_scene_testset/videos/chunk-000/observation.images.color.front/episode_000000.mp4
@@ -0,0 +1,3 @@
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+oid sha256:ccd1042f0006ac0dae4e5e41e56207e2a8f5f70bc8b5fb2ef556e5ec3200c63b
+size 2759727
diff --git a/vrh3_serving_bottle_full_scene_testset/videos/chunk-000/observation.images.color.front/episode_000001.mp4 b/vrh3_serving_bottle_full_scene_testset/videos/chunk-000/observation.images.color.front/episode_000001.mp4
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diff --git a/vrh3_serving_coca/meta/info.json b/vrh3_serving_coca/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf23713f3dbc0fb8260bc81c9a17da793a595a92
--- /dev/null
+++ b/vrh3_serving_coca/meta/info.json
@@ -0,0 +1,194 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "vrh3",
+    "total_episodes": 100,
+    "total_frames": 28329,
+    "total_tasks": 1,
+    "total_videos": 300,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:100"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": {
+                "displacement": [
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint"
+                ]
+            }
+        },
+        "observation.state": {
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+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
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+                640,
+                3
+            ],
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+                "width",
+                "channels"
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+                640,
+                3
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+                "channels"
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+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/vrh3_serving_coca/meta/modality.json b/vrh3_serving_coca/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..8afb8cebea522b0710b39e19c75ed2165b528258
--- /dev/null
+++ b/vrh3_serving_coca/meta/modality.json
@@ -0,0 +1,46 @@
+{
+  "state": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "action": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "video": {
+    "cam_front": {
+      "original_key": "observation.images.color.front"
+    },
+    "cam_left": {
+      "original_key": "observation.images.color.left"
+    },
+    "cam_right": {
+      "original_key": "observation.images.color.right"
+    }
+  },
+  "annotation": {
+    "human.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
diff --git a/vrh3_serving_coca/meta/tasks.jsonl b/vrh3_serving_coca/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3203b5a76c52bb3e0d80712f14b580e3ac59457c
--- /dev/null
+++ b/vrh3_serving_coca/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Use the right hand to grasp the nearest Coca bottle (red cap and dark-colored liquid), and serve it into the customer's hand."}
diff --git a/vrh3_serving_coca/videos/chunk-000/observation.images.color.front/episode_000000.mp4 b/vrh3_serving_coca/videos/chunk-000/observation.images.color.front/episode_000000.mp4
new file mode 100644
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--- /dev/null
+++ b/vrh3_serving_coca/videos/chunk-000/observation.images.color.front/episode_000000.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/vrh3_serving_coca/videos/chunk-000/observation.images.color.front/episode_000001.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/vrh3_serving_coca/videos/chunk-000/observation.images.color.front/episode_000002.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
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new file mode 100644
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diff --git a/vrh3_serving_coca_testset/meta/info.json b/vrh3_serving_coca_testset/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb61f239fa3508cfe970b8a3760ee97181968c5
--- /dev/null
+++ b/vrh3_serving_coca_testset/meta/info.json
@@ -0,0 +1,194 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "vrh3",
+    "total_episodes": 17,
+    "total_frames": 5349,
+    "total_tasks": 1,
+    "total_videos": 51,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:17"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": {
+                "displacement": [
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint"
+                ]
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": {
+                "displacement": [
+                    "left_shoulder_pitch_joint",
+                    "left_shoulder_roll_joint",
+                    "left_shoulder_yaw_joint",
+                    "left_elbow_pitch_joint",
+                    "left_wrist_yaw_joint",
+                    "left_wrist_roll_joint",
+                    "left_wrist_pitch_joint",
+                    "right_shoulder_pitch_joint",
+                    "right_shoulder_roll_joint",
+                    "right_shoulder_yaw_joint",
+                    "right_elbow_pitch_joint",
+                    "right_wrist_yaw_joint",
+                    "right_wrist_roll_joint",
+                    "right_wrist_pitch_joint",
+                    "L_thumb_swing_joint",
+                    "L_thumb_1_joint",
+                    "L_index_1_joint",
+                    "L_middle_1_joint",
+                    "L_ring_1_joint",
+                    "L_pinky_1_joint",
+                    "R_thumb_swing_joint",
+                    "R_thumb_1_joint",
+                    "R_index_1_joint",
+                    "R_middle_1_joint",
+                    "R_ring_1_joint",
+                    "R_pinky_1_joint"
+                ]
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+        },
+        "observation.images.color.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.color.left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
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+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
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+        "observation.images.color.right": {
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+                640,
+                3
+            ],
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+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/vrh3_serving_coca_testset/meta/modality.json b/vrh3_serving_coca_testset/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..8afb8cebea522b0710b39e19c75ed2165b528258
--- /dev/null
+++ b/vrh3_serving_coca_testset/meta/modality.json
@@ -0,0 +1,46 @@
+{
+  "state": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "action": {
+    "arm": {
+      "start": 0,
+      "end": 14
+    },
+    "left_hand": {
+      "start": 14,
+      "end": 20
+    },
+    "right_hand": {
+      "start": 20,
+      "end": 26
+    }
+  },
+  "video": {
+    "cam_front": {
+      "original_key": "observation.images.color.front"
+    },
+    "cam_left": {
+      "original_key": "observation.images.color.left"
+    },
+    "cam_right": {
+      "original_key": "observation.images.color.right"
+    }
+  },
+  "annotation": {
+    "human.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
diff --git a/vrh3_serving_coca_testset/meta/tasks.jsonl b/vrh3_serving_coca_testset/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3203b5a76c52bb3e0d80712f14b580e3ac59457c
--- /dev/null
+++ b/vrh3_serving_coca_testset/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Use the right hand to grasp the nearest Coca bottle (red cap and dark-colored liquid), and serve it into the customer's hand."}
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new file mode 100644
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--- /dev/null
+++ b/vrh3_serving_coca_testset/videos/chunk-000/observation.images.color.front/episode_000000.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
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+++ b/vrh3_serving_coca_testset/videos/chunk-000/observation.images.color.front/episode_000001.mp4
@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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