diff --git a/beat_block_hammer/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl b/beat_block_hammer/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81be22bf8a1e824b06503bb617f0938aa8e9d5c3
--- /dev/null
+++ b/beat_block_hammer/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl
@@ -0,0 +1,48 @@
+{"task_index": 0, "task": "Grab the medium-sized metal hammer with the right arm and beat the block."}
+{"task_index": 1, "task": "With the right arm, pick up the handheld medium claw hammer and strike the block."}
+{"task_index": 2, "task": "Lift the nail-driving hammer, then beat the block."}
+{"task_index": 3, "task": "Pick the handheld medium claw hammer from the table and strike"}
+{"task_index": 4, "task": "Pick up the handheld medium claw hammer and use it on the block"}
+{"task_index": 5, "task": "Beat the block after grabbing the black and yellow hammer grip"}
+{"task_index": 6, "task": "With the left arm, grab the black and yellow hammer grip and hammer the block"}
+{"task_index": 7, "task": "Take the medium-sized metal hammer and hammer the block"}
+{"task_index": 8, "task": "Pick up the hammer for nails using the right arm then beat"}
+{"task_index": 9, "task": "Make the left arm grab the black and yellow hammer grip and strike the block."}
+{"task_index": 10, "task": "Pick up the silver hammer using the right arm, hammer the block."}
+{"task_index": 11, "task": "Grab the silver curved hammer head using the right arm, then beat the block"}
+{"task_index": 12, "task": "Pick up the plastic handle metal hammer and strike the block"}
+{"task_index": 13, "task": "Hold the hammer with claw-shaped end then hit the block"}
+{"task_index": 14, "task": "Grab the silver hammer using the left arm, then beat the block"}
+{"task_index": 15, "task": "Pick up the plastic handle metal hammer with the left arm, strike the block."}
+{"task_index": 16, "task": "Lift the hammer with claw-shaped end with the right arm then strike block"}
+{"task_index": 17, "task": "Pick the handheld medium claw hammer with the right arm and hit the block"}
+{"task_index": 18, "task": "Use the right arm to take the hammer for nails and strike"}
+{"task_index": 19, "task": "Grab the silver hammer and use it to hit"}
+{"task_index": 20, "task": "Grab the hammer with two-tone handle and use it to hit"}
+{"task_index": 21, "task": "Use the right arm to grab the hammer for nails and beat"}
+{"task_index": 22, "task": "Pick the plastic handle metal hammer and strike the block."}
+{"task_index": 23, "task": "Grab the plastic handle metal hammer with the right arm and hit the block"}
+{"task_index": 24, "task": "Hold the medium-sized metal hammer and pound the block."}
+{"task_index": 25, "task": "Lift the medium-sized metal hammer and hit the block."}
+{"task_index": 26, "task": "Use the left arm to grab the yellow and black hammer grip and beat"}
+{"task_index": 27, "task": "Grab the silver hammer, then strike the block."}
+{"task_index": 28, "task": "Grab the silver hammer using the left arm and hit the block"}
+{"task_index": 29, "task": "Pick the yellow and black hammer grip from the table and strike"}
+{"task_index": 30, "task": "Use the right arm to take the nail-driving hammer and strike"}
+{"task_index": 31, "task": "Hold the silver curved hammer head and pound the block."}
+{"task_index": 32, "task": "Pick up the hammer with two-tone handle using the left arm, hammer the block."}
+{"task_index": 33, "task": "Use the hammer with two-tone handle to beat after grabbing with the left arm"}
+{"task_index": 34, "task": "Grab the yellow and black hammer grip using the right arm and hit the block"}
+{"task_index": 35, "task": "Grab the plastic handle metal hammer and use it to hit"}
+{"task_index": 36, "task": "Take the hammer with two-tone handle and strike the block"}
+{"task_index": 37, "task": "Utilize the left arm to hold the handheld medium claw hammer and strike."}
+{"task_index": 38, "task": "Pick up the black and yellow hammer grip and strike the block"}
+{"task_index": 39, "task": "Grab the nail-driving hammer using the left arm, then beat the block"}
+{"task_index": 40, "task": "Grab the hammer for nails with the right arm and hit the block"}
+{"task_index": 41, "task": "Use the right arm to take the hammer with two-tone handle and strike"}
+{"task_index": 42, "task": "Grab the plastic handle metal hammer, then strike the block."}
+{"task_index": 43, "task": "Take the grippy handle hammer and strike the block"}
+{"task_index": 44, "task": "Take the plastic handle metal hammer and beat the block"}
+{"task_index": 45, "task": "Pick up the hammer with claw-shaped end and use it on the block"}
+{"task_index": 46, "task": "Hold the nail-driving hammer and pound the block."}
+{"task_index": 47, "task": "With the right arm, grab the grippy handle hammer and beat the block."}
diff --git a/beat_block_hammer/meta/episodes.jsonl b/beat_block_hammer/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db8bba8ed680536db6fa6463d37391a92796352f
--- /dev/null
+++ b/beat_block_hammer/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Grab the medium-sized metal hammer with the right arm and beat the block."], "length": 122}
+{"episode_index": 1, "tasks": ["With the right arm, pick up the handheld medium claw hammer and strike the block."], "length": 113}
+{"episode_index": 2, "tasks": ["Lift the nail-driving hammer, then beat the block."], "length": 110}
+{"episode_index": 3, "tasks": ["Pick the handheld medium claw hammer from the table and strike"], "length": 115}
+{"episode_index": 4, "tasks": ["Pick up the handheld medium claw hammer and use it on the block"], "length": 116}
+{"episode_index": 5, "tasks": ["Beat the block after grabbing the black and yellow hammer grip"], "length": 115}
+{"episode_index": 6, "tasks": ["With the left arm, grab the black and yellow hammer grip and hammer the block"], "length": 114}
+{"episode_index": 7, "tasks": ["Take the medium-sized metal hammer and hammer the block"], "length": 116}
+{"episode_index": 8, "tasks": ["Pick up the hammer for nails using the right arm then beat"], "length": 112}
+{"episode_index": 9, "tasks": ["Make the left arm grab the black and yellow hammer grip and strike the block."], "length": 115}
+{"episode_index": 10, "tasks": ["Pick up the silver hammer using the right arm, hammer the block."], "length": 112}
+{"episode_index": 11, "tasks": ["Grab the silver curved hammer head using the right arm, then beat the block"], "length": 110}
+{"episode_index": 12, "tasks": ["Pick up the plastic handle metal hammer and strike the block"], "length": 113}
+{"episode_index": 13, "tasks": ["Hold the hammer with claw-shaped end then hit the block"], "length": 111}
+{"episode_index": 14, "tasks": ["Grab the silver hammer using the left arm, then beat the block"], "length": 113}
+{"episode_index": 15, "tasks": ["Pick up the plastic handle metal hammer with the left arm, strike the block."], "length": 114}
+{"episode_index": 16, "tasks": ["Lift the hammer with claw-shaped end with the right arm then strike block"], "length": 114}
+{"episode_index": 17, "tasks": ["Pick the handheld medium claw hammer with the right arm and hit the block"], "length": 112}
+{"episode_index": 18, "tasks": ["Use the right arm to take the hammer for nails and strike"], "length": 117}
+{"episode_index": 19, "tasks": ["Grab the silver hammer and use it to hit"], "length": 112}
+{"episode_index": 20, "tasks": ["Grab the hammer with two-tone handle and use it to hit"], "length": 111}
+{"episode_index": 21, "tasks": ["Use the right arm to grab the hammer for nails and beat"], "length": 114}
+{"episode_index": 22, "tasks": ["Pick the plastic handle metal hammer and strike the block."], "length": 110}
+{"episode_index": 23, "tasks": ["Grab the plastic handle metal hammer with the right arm and hit the block"], "length": 116}
+{"episode_index": 24, "tasks": ["Hold the medium-sized metal hammer and pound the block."], "length": 111}
+{"episode_index": 25, "tasks": ["Lift the medium-sized metal hammer and hit the block."], "length": 115}
+{"episode_index": 26, "tasks": ["Use the left arm to grab the yellow and black hammer grip and beat"], "length": 110}
+{"episode_index": 27, "tasks": ["Grab the silver hammer, then strike the block."], "length": 112}
+{"episode_index": 28, "tasks": ["Grab the silver hammer using the left arm and hit the block"], "length": 115}
+{"episode_index": 29, "tasks": ["Pick the yellow and black hammer grip from the table and strike"], "length": 114}
+{"episode_index": 30, "tasks": ["Use the right arm to take the nail-driving hammer and strike"], "length": 117}
+{"episode_index": 31, "tasks": ["Hold the silver curved hammer head and pound the block."], "length": 113}
+{"episode_index": 32, "tasks": ["Pick up the hammer with two-tone handle using the left arm, hammer the block."], "length": 117}
+{"episode_index": 33, "tasks": ["Use the hammer with two-tone handle to beat after grabbing with the left arm"], "length": 116}
+{"episode_index": 34, "tasks": ["Grab the yellow and black hammer grip using the right arm and hit the block"], "length": 116}
+{"episode_index": 35, "tasks": ["Grab the plastic handle metal hammer and use it to hit"], "length": 116}
+{"episode_index": 36, "tasks": ["Take the hammer with two-tone handle and strike the block"], "length": 125}
+{"episode_index": 37, "tasks": ["Utilize the left arm to hold the handheld medium claw hammer and strike."], "length": 112}
+{"episode_index": 38, "tasks": ["Pick up the black and yellow hammer grip and strike the block"], "length": 117}
+{"episode_index": 39, "tasks": ["Grab the nail-driving hammer using the left arm, then beat the block"], "length": 110}
+{"episode_index": 40, "tasks": ["Grab the hammer for nails with the right arm and hit the block"], "length": 112}
+{"episode_index": 41, "tasks": ["Use the right arm to take the hammer with two-tone handle and strike"], "length": 113}
+{"episode_index": 42, "tasks": ["Grab the plastic handle metal hammer, then strike the block."], "length": 110}
+{"episode_index": 43, "tasks": ["Take the grippy handle hammer and strike the block"], "length": 108}
+{"episode_index": 44, "tasks": ["Take the plastic handle metal hammer and beat the block"], "length": 116}
+{"episode_index": 45, "tasks": ["Take the hammer with two-tone handle and strike the block"], "length": 110}
+{"episode_index": 46, "tasks": ["Take the plastic handle metal hammer and beat the block"], "length": 110}
+{"episode_index": 47, "tasks": ["Pick up the hammer with claw-shaped end and use it on the block"], "length": 116}
+{"episode_index": 48, "tasks": ["Hold the nail-driving hammer and pound the block."], "length": 114}
+{"episode_index": 49, "tasks": ["With the right arm, grab the grippy handle hammer and beat the block."], "length": 110}
diff --git a/beat_block_hammer/meta/episodes_stats.jsonl b/beat_block_hammer/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8e18f9815c38bda09fae3925796778e5d1f9b25
--- /dev/null
+++ b/beat_block_hammer/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/beat_block_hammer/meta/info.json b/beat_block_hammer/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f263fa18622bd16b37cd3327c6c58a3987462665
--- /dev/null
+++ b/beat_block_hammer/meta/info.json
@@ -0,0 +1,170 @@
+{
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+    "robot_type": "aloha",
+    "total_episodes": 50,
+    "total_frames": 5682,
+    "total_tasks": 48,
+    "total_videos": 150,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:50"
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            ],
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+                    "left_shoulder",
+                    "left_elbow",
+                    "left_forearm_roll",
+                    "left_wrist_angle",
+                    "left_wrist_rotate",
+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
+                    "right_gripper"
+                ]
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
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+                    "left_waist",
+                    "left_shoulder",
+                    "left_elbow",
+                    "left_forearm_roll",
+                    "left_wrist_angle",
+                    "left_wrist_rotate",
+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
+                    "right_gripper"
+                ]
+            ]
+        },
+        "observation.images.cam_high": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
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+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
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+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+                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/beat_block_hammer/meta/modality.json b/beat_block_hammer/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/beat_block_hammer/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
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+            "end": 7,
+            "original_key": "action"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "action"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "observation.state"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "observation.state"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "observation.state"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "observation.state"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
+        },
+        "cam_left_wrist": {
+            "original_key": "observation.images.cam_left_wrist"
+        },
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/beat_block_hammer/meta/stats_gr00t.json b/beat_block_hammer/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cde6263b19f6386fa970e08a55ab2f034f7e170
--- /dev/null
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diff --git a/beat_block_hammer/meta/tasks.jsonl b/beat_block_hammer/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81be22bf8a1e824b06503bb617f0938aa8e9d5c3
--- /dev/null
+++ b/beat_block_hammer/meta/tasks.jsonl
@@ -0,0 +1,48 @@
+{"task_index": 0, "task": "Grab the medium-sized metal hammer with the right arm and beat the block."}
+{"task_index": 1, "task": "With the right arm, pick up the handheld medium claw hammer and strike the block."}
+{"task_index": 2, "task": "Lift the nail-driving hammer, then beat the block."}
+{"task_index": 3, "task": "Pick the handheld medium claw hammer from the table and strike"}
+{"task_index": 4, "task": "Pick up the handheld medium claw hammer and use it on the block"}
+{"task_index": 5, "task": "Beat the block after grabbing the black and yellow hammer grip"}
+{"task_index": 6, "task": "With the left arm, grab the black and yellow hammer grip and hammer the block"}
+{"task_index": 7, "task": "Take the medium-sized metal hammer and hammer the block"}
+{"task_index": 8, "task": "Pick up the hammer for nails using the right arm then beat"}
+{"task_index": 9, "task": "Make the left arm grab the black and yellow hammer grip and strike the block."}
+{"task_index": 10, "task": "Pick up the silver hammer using the right arm, hammer the block."}
+{"task_index": 11, "task": "Grab the silver curved hammer head using the right arm, then beat the block"}
+{"task_index": 12, "task": "Pick up the plastic handle metal hammer and strike the block"}
+{"task_index": 13, "task": "Hold the hammer with claw-shaped end then hit the block"}
+{"task_index": 14, "task": "Grab the silver hammer using the left arm, then beat the block"}
+{"task_index": 15, "task": "Pick up the plastic handle metal hammer with the left arm, strike the block."}
+{"task_index": 16, "task": "Lift the hammer with claw-shaped end with the right arm then strike block"}
+{"task_index": 17, "task": "Pick the handheld medium claw hammer with the right arm and hit the block"}
+{"task_index": 18, "task": "Use the right arm to take the hammer for nails and strike"}
+{"task_index": 19, "task": "Grab the silver hammer and use it to hit"}
+{"task_index": 20, "task": "Grab the hammer with two-tone handle and use it to hit"}
+{"task_index": 21, "task": "Use the right arm to grab the hammer for nails and beat"}
+{"task_index": 22, "task": "Pick the plastic handle metal hammer and strike the block."}
+{"task_index": 23, "task": "Grab the plastic handle metal hammer with the right arm and hit the block"}
+{"task_index": 24, "task": "Hold the medium-sized metal hammer and pound the block."}
+{"task_index": 25, "task": "Lift the medium-sized metal hammer and hit the block."}
+{"task_index": 26, "task": "Use the left arm to grab the yellow and black hammer grip and beat"}
+{"task_index": 27, "task": "Grab the silver hammer, then strike the block."}
+{"task_index": 28, "task": "Grab the silver hammer using the left arm and hit the block"}
+{"task_index": 29, "task": "Pick the yellow and black hammer grip from the table and strike"}
+{"task_index": 30, "task": "Use the right arm to take the nail-driving hammer and strike"}
+{"task_index": 31, "task": "Hold the silver curved hammer head and pound the block."}
+{"task_index": 32, "task": "Pick up the hammer with two-tone handle using the left arm, hammer the block."}
+{"task_index": 33, "task": "Use the hammer with two-tone handle to beat after grabbing with the left arm"}
+{"task_index": 34, "task": "Grab the yellow and black hammer grip using the right arm and hit the block"}
+{"task_index": 35, "task": "Grab the plastic handle metal hammer and use it to hit"}
+{"task_index": 36, "task": "Take the hammer with two-tone handle and strike the block"}
+{"task_index": 37, "task": "Utilize the left arm to hold the handheld medium claw hammer and strike."}
+{"task_index": 38, "task": "Pick up the black and yellow hammer grip and strike the block"}
+{"task_index": 39, "task": "Grab the nail-driving hammer using the left arm, then beat the block"}
+{"task_index": 40, "task": "Grab the hammer for nails with the right arm and hit the block"}
+{"task_index": 41, "task": "Use the right arm to take the hammer with two-tone handle and strike"}
+{"task_index": 42, "task": "Grab the plastic handle metal hammer, then strike the block."}
+{"task_index": 43, "task": "Take the grippy handle hammer and strike the block"}
+{"task_index": 44, "task": "Take the plastic handle metal hammer and beat the block"}
+{"task_index": 45, "task": "Pick up the hammer with claw-shaped end and use it on the block"}
+{"task_index": 46, "task": "Hold the nail-driving hammer and pound the block."}
+{"task_index": 47, "task": "With the right arm, grab the grippy handle hammer and beat the block."}
diff --git a/click_bell/meta/episodes.jsonl b/click_bell/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc9902c11af026c490f4902a7e3157aeb334472e
--- /dev/null
+++ b/click_bell/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Use the right arm to press the white and black colored bell's top section."], "length": 78}
+{"episode_index": 1, "tasks": ["Tap the top center of the white and black colored bell."], "length": 75}
+{"episode_index": 2, "tasks": ["Press the specified top area of the white and black colored bell."], "length": 74}
+{"episode_index": 3, "tasks": ["Push the bell shaped like half-circle dome's <top center> on the table"], "length": 77}
+{"episode_index": 4, "tasks": ["Press the specified top area of the bell with protruding knob."], "length": 80}
+{"episode_index": 5, "tasks": ["Tap the top center of the rounded bell with flat black part."], "length": 76}
+{"episode_index": 6, "tasks": ["Make the right arm interact with the smooth blue bell's top center."], "length": 79}
+{"episode_index": 7, "tasks": ["Have the left arm click at the bell with brown base's top center."], "length": 75}
+{"episode_index": 8, "tasks": ["Tap the top center of the white bell with black bottom."], "length": 76}
+{"episode_index": 9, "tasks": ["Click the white bell with black bottom's top center using the right arm."], "length": 79}
+{"episode_index": 10, "tasks": ["Click the top center of the plastic and metal bell on table."], "length": 83}
+{"episode_index": 11, "tasks": ["Press the compact tabletop bell's top center with the right arm firmly."], "length": 77}
+{"episode_index": 12, "tasks": ["Direct the left arm to click the top of the brown-bottomed bell."], "length": 75}
+{"episode_index": 13, "tasks": ["Direct the right arm to touch the smooth blue bell's top."], "length": 76}
+{"episode_index": 14, "tasks": ["Press the specified top area of the blue dome-shaped bell."], "length": 76}
+{"episode_index": 15, "tasks": ["Press down the bell with brown base's top center gently."], "length": 78}
+{"episode_index": 16, "tasks": ["Click the designated center of the small desk bell for tapping."], "length": 75}
+{"episode_index": 17, "tasks": ["Push the center of the bell with protruding knob using the right arm."], "length": 76}
+{"episode_index": 18, "tasks": ["Tap the bell with protruding knob's top center with the left arm."], "length": 76}
+{"episode_index": 19, "tasks": ["Guide the right arm to click the white and black colored bell's top center."], "length": 74}
+{"episode_index": 20, "tasks": ["Have the right arm click at the bell with black flat base's top center."], "length": 75}
+{"episode_index": 21, "tasks": ["Click the compact tabletop bell at its top center on table."], "length": 77}
+{"episode_index": 22, "tasks": ["Have the right arm click at the bell shaped like half-circle dome's top center."], "length": 78}
+{"episode_index": 23, "tasks": ["Tap the smooth blue bell's top center with the right arm."], "length": 78}
+{"episode_index": 24, "tasks": ["Pinpoint the metal bell with plastic parts and click its top center."], "length": 78}
+{"episode_index": 25, "tasks": ["Locate the bell shaped like half-circle dome and click its top center."], "length": 75}
+{"episode_index": 26, "tasks": ["Direct the right arm to click the top of the white and black colored bell."], "length": 77}
+{"episode_index": 27, "tasks": ["Press the center top of the small blue and brown bell."], "length": 77}
+{"episode_index": 28, "tasks": ["Press the center of the plastic and metal bell using the left arm."], "length": 78}
+{"episode_index": 29, "tasks": ["Pinpoint the bell with protruding knob and click its top center."], "length": 75}
+{"episode_index": 30, "tasks": ["Click using the left arm on the plastic and metal bell's center."], "length": 75}
+{"episode_index": 31, "tasks": ["Direct the left arm to click the top of the bell with brown base."], "length": 77}
+{"episode_index": 32, "tasks": ["Make the left arm interact with the round bell's top center."], "length": 78}
+{"episode_index": 33, "tasks": ["Click the blue dome-shaped bell's top center using the right arm."], "length": 80}
+{"episode_index": 34, "tasks": ["Tap the blue dome-shaped bell's top center with the left arm."], "length": 77}
+{"episode_index": 35, "tasks": ["Make the left arm interact with the small blue and brown bell's top center."], "length": 78}
+{"episode_index": 36, "tasks": ["Ask the left arm to interact with the plastic and metal bell's top."], "length": 80}
+{"episode_index": 37, "tasks": ["Activate the bell with metallic top and plastic base by pressing its top center."], "length": 75}
+{"episode_index": 38, "tasks": ["Activate the small desk bell for tapping by pressing its top center."], "length": 79}
+{"episode_index": 39, "tasks": ["Pinpoint the small desk bell for tapping and click its top center."], "length": 76}
+{"episode_index": 40, "tasks": ["Press the simple hand bell with black stand's top center with the right arm firmly."], "length": 80}
+{"episode_index": 41, "tasks": ["Press the top center of the white bell on table."], "length": 76}
+{"episode_index": 42, "tasks": ["Have the left arm click at the bell shaped like half-circle dome's top center."], "length": 75}
+{"episode_index": 43, "tasks": ["Have the right arm click at the white and black colored bell's top center."], "length": 77}
+{"episode_index": 44, "tasks": ["Press the specified top area of the blue dome-shaped bell."], "length": 78}
+{"episode_index": 45, "tasks": ["Press the top center of the plastic and metal bell on table."], "length": 75}
+{"episode_index": 46, "tasks": ["Press the top center of the metal bell with plastic parts on table."], "length": 75}
+{"episode_index": 47, "tasks": ["Press the top center of the blue bell on table."], "length": 86}
+{"episode_index": 48, "tasks": ["Tap the small desk bell for tapping's top center with the right arm."], "length": 77}
+{"episode_index": 49, "tasks": ["Locate the blue bell and click its top center."], "length": 78}
diff --git a/click_bell/meta/episodes_stats.jsonl b/click_bell/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6252e0d8ea36b49384822d8910339b246855eb0
--- /dev/null
+++ b/click_bell/meta/episodes_stats.jsonl
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diff --git a/click_bell/meta/info.json b/click_bell/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a540458e91b8e2e0af175dc6f699481f6e3c80
--- /dev/null
+++ b/click_bell/meta/info.json
@@ -0,0 +1,170 @@
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+}
\ No newline at end of file
diff --git a/click_bell/meta/modality.json b/click_bell/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/click_bell/meta/modality.json
@@ -0,0 +1,62 @@
+{
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+            "end": 6,
+            "original_key": "action"
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+        "right_joints": {
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+            "original_key": "action"
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+        "right_gripper": {
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+            "end": 14,
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+        }
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+            "end": 6,
+            "original_key": "observation.state"
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+            "end": 7,
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+        "right_joints": {
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+            "end": 14,
+            "original_key": "observation.state"
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+    "video": {
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+        "cam_left_wrist": {
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+        "cam_right_wrist": {
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+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
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+}
\ No newline at end of file
diff --git a/click_bell/meta/stats_gr00t.json b/click_bell/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3606033808ebfa86dfb672340c353b8f822b90e
--- /dev/null
+++ b/click_bell/meta/stats_gr00t.json
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diff --git a/click_bell/meta/tasks.jsonl b/click_bell/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d8a87d45180bd903732a50211219a59db56d33e
--- /dev/null
+++ b/click_bell/meta/tasks.jsonl
@@ -0,0 +1,49 @@
+{"task_index": 0, "task": "Use the right arm to press the white and black colored bell's top section."}
+{"task_index": 1, "task": "Tap the top center of the white and black colored bell."}
+{"task_index": 2, "task": "Press the specified top area of the white and black colored bell."}
+{"task_index": 3, "task": "Push the bell shaped like half-circle dome's <top center> on the table"}
+{"task_index": 4, "task": "Press the specified top area of the bell with protruding knob."}
+{"task_index": 5, "task": "Tap the top center of the rounded bell with flat black part."}
+{"task_index": 6, "task": "Make the right arm interact with the smooth blue bell's top center."}
+{"task_index": 7, "task": "Have the left arm click at the bell with brown base's top center."}
+{"task_index": 8, "task": "Tap the top center of the white bell with black bottom."}
+{"task_index": 9, "task": "Click the white bell with black bottom's top center using the right arm."}
+{"task_index": 10, "task": "Click the top center of the plastic and metal bell on table."}
+{"task_index": 11, "task": "Press the compact tabletop bell's top center with the right arm firmly."}
+{"task_index": 12, "task": "Direct the left arm to click the top of the brown-bottomed bell."}
+{"task_index": 13, "task": "Direct the right arm to touch the smooth blue bell's top."}
+{"task_index": 14, "task": "Press the specified top area of the blue dome-shaped bell."}
+{"task_index": 15, "task": "Press down the bell with brown base's top center gently."}
+{"task_index": 16, "task": "Click the designated center of the small desk bell for tapping."}
+{"task_index": 17, "task": "Push the center of the bell with protruding knob using the right arm."}
+{"task_index": 18, "task": "Tap the bell with protruding knob's top center with the left arm."}
+{"task_index": 19, "task": "Guide the right arm to click the white and black colored bell's top center."}
+{"task_index": 20, "task": "Have the right arm click at the bell with black flat base's top center."}
+{"task_index": 21, "task": "Click the compact tabletop bell at its top center on table."}
+{"task_index": 22, "task": "Have the right arm click at the bell shaped like half-circle dome's top center."}
+{"task_index": 23, "task": "Tap the smooth blue bell's top center with the right arm."}
+{"task_index": 24, "task": "Pinpoint the metal bell with plastic parts and click its top center."}
+{"task_index": 25, "task": "Locate the bell shaped like half-circle dome and click its top center."}
+{"task_index": 26, "task": "Direct the right arm to click the top of the white and black colored bell."}
+{"task_index": 27, "task": "Press the center top of the small blue and brown bell."}
+{"task_index": 28, "task": "Press the center of the plastic and metal bell using the left arm."}
+{"task_index": 29, "task": "Pinpoint the bell with protruding knob and click its top center."}
+{"task_index": 30, "task": "Click using the left arm on the plastic and metal bell's center."}
+{"task_index": 31, "task": "Direct the left arm to click the top of the bell with brown base."}
+{"task_index": 32, "task": "Make the left arm interact with the round bell's top center."}
+{"task_index": 33, "task": "Click the blue dome-shaped bell's top center using the right arm."}
+{"task_index": 34, "task": "Tap the blue dome-shaped bell's top center with the left arm."}
+{"task_index": 35, "task": "Make the left arm interact with the small blue and brown bell's top center."}
+{"task_index": 36, "task": "Ask the left arm to interact with the plastic and metal bell's top."}
+{"task_index": 37, "task": "Activate the bell with metallic top and plastic base by pressing its top center."}
+{"task_index": 38, "task": "Activate the small desk bell for tapping by pressing its top center."}
+{"task_index": 39, "task": "Pinpoint the small desk bell for tapping and click its top center."}
+{"task_index": 40, "task": "Press the simple hand bell with black stand's top center with the right arm firmly."}
+{"task_index": 41, "task": "Press the top center of the white bell on table."}
+{"task_index": 42, "task": "Have the left arm click at the bell shaped like half-circle dome's top center."}
+{"task_index": 43, "task": "Have the right arm click at the white and black colored bell's top center."}
+{"task_index": 44, "task": "Press the top center of the plastic and metal bell on table."}
+{"task_index": 45, "task": "Press the top center of the metal bell with plastic parts on table."}
+{"task_index": 46, "task": "Press the top center of the blue bell on table."}
+{"task_index": 47, "task": "Tap the small desk bell for tapping's top center with the right arm."}
+{"task_index": 48, "task": "Locate the blue bell and click its top center."}
diff --git a/dump_bin_bigbin/meta/stats_gr00t.json b/dump_bin_bigbin/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..b26532b1f9756fb1908a7f48f4860241b3d7320f
--- /dev/null
+++ b/dump_bin_bigbin/meta/stats_gr00t.json
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\ No newline at end of file
diff --git a/handover_block/meta/episodes.jsonl b/handover_block/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a08a1fa17b071ca8899ae9d09b25b3d4a85c7e05
--- /dev/null
+++ b/handover_block/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad."], "length": 277}
+{"episode_index": 1, "tasks": ["Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad."], "length": 278}
+{"episode_index": 2, "tasks": ["The left arm should grab the red block, hand it to the right, and put it on the blue pad."], "length": 278}
+{"episode_index": 3, "tasks": ["Take the red block using the left arm and hand it over."], "length": 272}
+{"episode_index": 4, "tasks": ["Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad."], "length": 275}
+{"episode_index": 5, "tasks": ["Take the red block, pass it to the right arm, and drop it."], "length": 288}
+{"episode_index": 6, "tasks": ["Use left arm to grab the red block and place it on the pad."], "length": 287}
+{"episode_index": 7, "tasks": ["Use left arm to grab the block and hand it to the right."], "length": 276}
+{"episode_index": 8, "tasks": ["Move the red block from the left hand to the pad."], "length": 278}
+{"episode_index": 9, "tasks": ["Lift, switch arms, and place the red block."], "length": 279}
+{"episode_index": 10, "tasks": ["Hold the red block, transfer to the right arm, then set it down."], "length": 278}
+{"episode_index": 11, "tasks": ["Hand over the red block to the right arm."], "length": 277}
+{"episode_index": 12, "tasks": ["Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad."], "length": 280}
+{"episode_index": 13, "tasks": ["Use left arm to grab the red block and place it on the pad."], "length": 273}
+{"episode_index": 14, "tasks": ["Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad."], "length": 277}
+{"episode_index": 15, "tasks": ["With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad."], "length": 286}
+{"episode_index": 16, "tasks": ["Use left arm to grab the block and hand it to the right."], "length": 288}
+{"episode_index": 17, "tasks": ["With the left arm, grab the red block, pass it to the right, and set it on the blue pad."], "length": 274}
+{"episode_index": 18, "tasks": ["Lift the block with the left arm, pass it to the right arm."], "length": 283}
+{"episode_index": 19, "tasks": ["Hand the red block to the right arm."], "length": 289}
+{"episode_index": 20, "tasks": ["Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad."], "length": 281}
+{"episode_index": 21, "tasks": ["With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad."], "length": 274}
+{"episode_index": 22, "tasks": ["Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad."], "length": 279}
+{"episode_index": 23, "tasks": ["Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad."], "length": 285}
+{"episode_index": 24, "tasks": ["Use left arm to grab the block and hand it to the right."], "length": 289}
+{"episode_index": 25, "tasks": ["Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad."], "length": 314}
+{"episode_index": 26, "tasks": ["Take the red block, pass it to the right arm, and drop it."], "length": 275}
+{"episode_index": 27, "tasks": ["Grab the red block and transfer to the right."], "length": 281}
+{"episode_index": 28, "tasks": ["Grab the red block, hand it to the right arm, then set it down."], "length": 277}
+{"episode_index": 29, "tasks": ["Pick up and handover the red block."], "length": 276}
+{"episode_index": 30, "tasks": ["Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad."], "length": 277}
+{"episode_index": 31, "tasks": ["With the left arm, grab the red block, pass it to the right, and set it on the blue pad."], "length": 290}
+{"episode_index": 32, "tasks": ["Use your arms to shift the red block."], "length": 286}
+{"episode_index": 33, "tasks": ["Hand over the red block to the right arm."], "length": 275}
+{"episode_index": 34, "tasks": ["Take the red block, pass it to the right arm, then place it."], "length": 274}
+{"episode_index": 35, "tasks": ["Lift the red block with the left arm, move it to the right, and place it onto the blue pad."], "length": 280}
+{"episode_index": 36, "tasks": ["Take the red block using the left arm and hand it over."], "length": 294}
+{"episode_index": 37, "tasks": ["Set the red block on the blue pad gently."], "length": 277}
+{"episode_index": 38, "tasks": ["Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad."], "length": 287}
+{"episode_index": 39, "tasks": ["Take the red block, pass it to the right arm, then place it."], "length": 279}
+{"episode_index": 40, "tasks": ["Grab the red block, transfer it, and set it on blue."], "length": 285}
+{"episode_index": 41, "tasks": ["With the left arm, grab the red block, pass it to the right, and set it on the blue pad."], "length": 276}
+{"episode_index": 42, "tasks": ["Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad."], "length": 276}
+{"episode_index": 43, "tasks": ["Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad."], "length": 276}
+{"episode_index": 44, "tasks": ["Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad."], "length": 282}
+{"episode_index": 45, "tasks": ["Take the red block, pass it to the right arm, and drop it."], "length": 293}
+{"episode_index": 46, "tasks": ["Grab the red block, hand it to the right arm, then set it down."], "length": 292}
+{"episode_index": 47, "tasks": ["Pick the red block with the left hand and pass it."], "length": 284}
+{"episode_index": 48, "tasks": ["With the left arm, grab the red block, pass it to the right, and set it on the blue pad."], "length": 300}
+{"episode_index": 49, "tasks": ["Move the red block using the left arm."], "length": 277}
diff --git a/handover_block/meta/episodes_stats.jsonl b/handover_block/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a44c307efe5d0f33e4392958daed4736afb6ade1
--- /dev/null
+++ b/handover_block/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/handover_block/meta/info.json b/handover_block/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad87763158defbb5dafe55df394b0cfbe3e13a3a
--- /dev/null
+++ b/handover_block/meta/info.json
@@ -0,0 +1,170 @@
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+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/handover_block/meta/modality.json b/handover_block/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/handover_block/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "action"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "action"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "observation.state"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "observation.state"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "observation.state"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "observation.state"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
+        },
+        "cam_left_wrist": {
+            "original_key": "observation.images.cam_left_wrist"
+        },
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/handover_block/meta/stats_gr00t.json b/handover_block/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf8b4501971334d87f0e7077aa2b0751421ba1
--- /dev/null
+++ b/handover_block/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
+{
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+}
\ No newline at end of file
diff --git a/handover_block/meta/tasks.jsonl b/handover_block/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34a7e1e1154fe32669d0f23f5b7e6942776ed338
--- /dev/null
+++ b/handover_block/meta/tasks.jsonl
@@ -0,0 +1,32 @@
+{"task_index": 0, "task": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad."}
+{"task_index": 1, "task": "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad."}
+{"task_index": 2, "task": "The left arm should grab the red block, hand it to the right, and put it on the blue pad."}
+{"task_index": 3, "task": "Take the red block using the left arm and hand it over."}
+{"task_index": 4, "task": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad."}
+{"task_index": 5, "task": "Take the red block, pass it to the right arm, and drop it."}
+{"task_index": 6, "task": "Use left arm to grab the red block and place it on the pad."}
+{"task_index": 7, "task": "Use left arm to grab the block and hand it to the right."}
+{"task_index": 8, "task": "Move the red block from the left hand to the pad."}
+{"task_index": 9, "task": "Lift, switch arms, and place the red block."}
+{"task_index": 10, "task": "Hold the red block, transfer to the right arm, then set it down."}
+{"task_index": 11, "task": "Hand over the red block to the right arm."}
+{"task_index": 12, "task": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad."}
+{"task_index": 13, "task": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad."}
+{"task_index": 14, "task": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad."}
+{"task_index": 15, "task": "Lift the block with the left arm, pass it to the right arm."}
+{"task_index": 16, "task": "Hand the red block to the right arm."}
+{"task_index": 17, "task": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad."}
+{"task_index": 18, "task": "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad."}
+{"task_index": 19, "task": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad."}
+{"task_index": 20, "task": "Grab the red block and transfer to the right."}
+{"task_index": 21, "task": "Grab the red block, hand it to the right arm, then set it down."}
+{"task_index": 22, "task": "Pick up and handover the red block."}
+{"task_index": 23, "task": "Use your arms to shift the red block."}
+{"task_index": 24, "task": "Take the red block, pass it to the right arm, then place it."}
+{"task_index": 25, "task": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad."}
+{"task_index": 26, "task": "Set the red block on the blue pad gently."}
+{"task_index": 27, "task": "Grab the red block, transfer it, and set it on blue."}
+{"task_index": 28, "task": "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad."}
+{"task_index": 29, "task": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad."}
+{"task_index": 30, "task": "Pick the red block with the left hand and pass it."}
+{"task_index": 31, "task": "Move the red block using the left arm."}
diff --git a/move_playingcard_away/meta/episodes.jsonl b/move_playingcard_away/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6448a5f0b81eee48b167ac8791f686676e60eff
--- /dev/null
+++ b/move_playingcard_away/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Use the right arm to pick up the palm-sized playingcards carton and push it outward."], "length": 118}
+{"episode_index": 1, "tasks": ["Take the playingcards box with white symbols and place it beyond the table."], "length": 117}
+{"episode_index": 2, "tasks": ["Take the blue and white playingcards packaging and place it beyond the table."], "length": 117}
+{"episode_index": 3, "tasks": ["Pick up the playing cards box with gold text and place it further away."], "length": 115}
+{"episode_index": 4, "tasks": ["Pick up the yellow and red playingcards box and move it away."], "length": 122}
+{"episode_index": 5, "tasks": ["Relocate the blue and white playingcards packaging farther outward using the right arm."], "length": 115}
+{"episode_index": 6, "tasks": ["Grab the rectangle-shaped cards box from the table and shift it outward."], "length": 115}
+{"episode_index": 7, "tasks": ["Grab the small playingcards container with the left arm and move it outward."], "length": 115}
+{"episode_index": 8, "tasks": ["Use the left arm to grab the small black box with cards and move it away."], "length": 116}
+{"episode_index": 9, "tasks": ["Lift the blue pack holding playingcards and place it farther away with the right arm."], "length": 128}
+{"episode_index": 10, "tasks": ["Grab the black playing cards box using the left arm and push it outward."], "length": 119}
+{"episode_index": 11, "tasks": ["Grab the playing cards box with gold text and shift it farther away from the table."], "length": 115}
+{"episode_index": 12, "tasks": ["Lift the box holding playing cards and push it off the table."], "length": 116}
+{"episode_index": 13, "tasks": ["Shift the red and yellow playingcards case outward by grabbing it with the right arm."], "length": 114}
+{"episode_index": 14, "tasks": ["Grab the glossy rectangular playingcards box and move it further away."], "length": 117}
+{"episode_index": 15, "tasks": ["Lift the blue pack holding playingcards from the table and move it outward."], "length": 128}
+{"episode_index": 16, "tasks": ["Pick up the playingcards box with white symbols and shift it further outward."], "length": 116}
+{"episode_index": 17, "tasks": ["Lift the glossy rectangular playingcards box and push it off the table."], "length": 115}
+{"episode_index": 18, "tasks": ["Grab the glossy rectangular playingcards box using the left arm and push it outward."], "length": 116}
+{"episode_index": 19, "tasks": ["Grab the playingcards box with white accents and move it further outward."], "length": 116}
+{"episode_index": 20, "tasks": ["Use the right arm to pick the playing cards box with gold text and move it outward."], "length": 117}
+{"episode_index": 21, "tasks": ["Using the right arm, lift the box of playingcards and move it outward."], "length": 115}
+{"episode_index": 22, "tasks": ["Shift the black playing cards box off the table to the side."], "length": 118}
+{"episode_index": 23, "tasks": ["Move the palm-sized box for playing cards outward from the table."], "length": 116}
+{"episode_index": 24, "tasks": ["Take the smooth playingcards holder and place it further outward."], "length": 122}
+{"episode_index": 25, "tasks": ["Grab the small playingcards container from the table and shift it outward."], "length": 122}
+{"episode_index": 26, "tasks": ["Grab the card box with golden designs and move it further outward."], "length": 116}
+{"episode_index": 27, "tasks": ["Grab the palm-sized box for playing cards from the table and shift it outward."], "length": 122}
+{"episode_index": 28, "tasks": ["Pick up the rectangular playingcards case and move it farther outward."], "length": 123}
+{"episode_index": 29, "tasks": ["Pick the smooth playingcards holder from the table and shift it outward."], "length": 115}
+{"episode_index": 30, "tasks": ["Lift the small playingcards container and set it away from the table."], "length": 117}
+{"episode_index": 31, "tasks": ["Lift the box with cards inside with the left arm and move it outward."], "length": 114}
+{"episode_index": 32, "tasks": ["Lift the smooth black cards container and slide it off the table."], "length": 122}
+{"episode_index": 33, "tasks": ["Grab the small playingcards pack and move it further away."], "length": 115}
+{"episode_index": 34, "tasks": ["Use the right arm to pick the rectangular blue playingcards case and move it outward."], "length": 117}
+{"episode_index": 35, "tasks": ["Use the left arm to pick up the blue playingcards box and move it."], "length": 116}
+{"episode_index": 36, "tasks": ["Move the box of playingcards outward from the table."], "length": 116}
+{"episode_index": 37, "tasks": ["Move the cardboard playing cards box away from its position on the table."], "length": 115}
+{"episode_index": 38, "tasks": ["Use the right arm to pick up the cardboard playing cards box and move it."], "length": 115}
+{"episode_index": 39, "tasks": ["Pick up the blue and white playingcards packaging with the left arm and place it outward."], "length": 116}
+{"episode_index": 40, "tasks": ["Place the rectangular box for card storage away from the table outward."], "length": 131}
+{"episode_index": 41, "tasks": ["Lift the smooth playingcards pack and place it farther away with the right arm."], "length": 114}
+{"episode_index": 42, "tasks": ["Pick up the smooth black cards container with the right arm and place it outward."], "length": 115}
+{"episode_index": 43, "tasks": ["Pick up the compact box for playing cards and shift it further outward."], "length": 115}
+{"episode_index": 44, "tasks": ["Grab the smooth playingcards holder using the right arm and push it outward."], "length": 122}
+{"episode_index": 45, "tasks": ["Pick up the palm-sized box for playing cards using the right arm and shift it outward."], "length": 117}
+{"episode_index": 46, "tasks": ["With the right arm, pick up the playingcards box with white accents and slide it outward."], "length": 116}
+{"episode_index": 47, "tasks": ["Lift the palm-sized playingcards carton and shift it outward."], "length": 118}
+{"episode_index": 48, "tasks": ["Grab the playingcards storage box with the right arm and move it outward."], "length": 121}
+{"episode_index": 49, "tasks": ["Move the rectangular playingcards case farther from the table using the left arm."], "length": 116}
diff --git a/move_playingcard_away/meta/episodes_stats.jsonl b/move_playingcard_away/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5a94a8fc666897aa1f633ff0b4c16ef890cc4d9
--- /dev/null
+++ b/move_playingcard_away/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/move_playingcard_away/meta/info.json b/move_playingcard_away/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da3234e44101052852beb5128efba0de007d2094
--- /dev/null
+++ b/move_playingcard_away/meta/info.json
@@ -0,0 +1,170 @@
+{
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+                "video.codec": "av1",
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+                "video.channels": 3,
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+        },
+        "observation.images.cam_left_wrist": {
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+}
\ No newline at end of file
diff --git a/move_playingcard_away/meta/modality.json b/move_playingcard_away/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/move_playingcard_away/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
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+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
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+            "end": 7,
+            "original_key": "action"
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+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "action"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action"
+        }
+    },
+    "state": {
+        "left_joints": {
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+            "end": 6,
+            "original_key": "observation.state"
+        },
+        "left_gripper": {
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+            "end": 7,
+            "original_key": "observation.state"
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+        "right_joints": {
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+            "end": 13,
+            "original_key": "observation.state"
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+        "right_gripper": {
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+            "end": 14,
+            "original_key": "observation.state"
+        }
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+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
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+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/move_playingcard_away/meta/stats_gr00t.json b/move_playingcard_away/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ce3e99ffe20b20e041707effd503eb700976d3d
--- /dev/null
+++ b/move_playingcard_away/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
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\ No newline at end of file
diff --git a/move_playingcard_away/meta/tasks.jsonl b/move_playingcard_away/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95fbd17c9ed01adaf4db430ddb14d208ac2b9a6c
--- /dev/null
+++ b/move_playingcard_away/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Use the right arm to pick up the palm-sized playingcards carton and push it outward."}
+{"task_index": 1, "task": "Take the playingcards box with white symbols and place it beyond the table."}
+{"task_index": 2, "task": "Take the blue and white playingcards packaging and place it beyond the table."}
+{"task_index": 3, "task": "Pick up the playing cards box with gold text and place it further away."}
+{"task_index": 4, "task": "Pick up the yellow and red playingcards box and move it away."}
+{"task_index": 5, "task": "Relocate the blue and white playingcards packaging farther outward using the right arm."}
+{"task_index": 6, "task": "Grab the rectangle-shaped cards box from the table and shift it outward."}
+{"task_index": 7, "task": "Grab the small playingcards container with the left arm and move it outward."}
+{"task_index": 8, "task": "Use the left arm to grab the small black box with cards and move it away."}
+{"task_index": 9, "task": "Lift the blue pack holding playingcards and place it farther away with the right arm."}
+{"task_index": 10, "task": "Grab the black playing cards box using the left arm and push it outward."}
+{"task_index": 11, "task": "Grab the playing cards box with gold text and shift it farther away from the table."}
+{"task_index": 12, "task": "Lift the box holding playing cards and push it off the table."}
+{"task_index": 13, "task": "Shift the red and yellow playingcards case outward by grabbing it with the right arm."}
+{"task_index": 14, "task": "Grab the glossy rectangular playingcards box and move it further away."}
+{"task_index": 15, "task": "Lift the blue pack holding playingcards from the table and move it outward."}
+{"task_index": 16, "task": "Pick up the playingcards box with white symbols and shift it further outward."}
+{"task_index": 17, "task": "Lift the glossy rectangular playingcards box and push it off the table."}
+{"task_index": 18, "task": "Grab the glossy rectangular playingcards box using the left arm and push it outward."}
+{"task_index": 19, "task": "Grab the playingcards box with white accents and move it further outward."}
+{"task_index": 20, "task": "Use the right arm to pick the playing cards box with gold text and move it outward."}
+{"task_index": 21, "task": "Using the right arm, lift the box of playingcards and move it outward."}
+{"task_index": 22, "task": "Shift the black playing cards box off the table to the side."}
+{"task_index": 23, "task": "Move the palm-sized box for playing cards outward from the table."}
+{"task_index": 24, "task": "Take the smooth playingcards holder and place it further outward."}
+{"task_index": 25, "task": "Grab the small playingcards container from the table and shift it outward."}
+{"task_index": 26, "task": "Grab the card box with golden designs and move it further outward."}
+{"task_index": 27, "task": "Grab the palm-sized box for playing cards from the table and shift it outward."}
+{"task_index": 28, "task": "Pick up the rectangular playingcards case and move it farther outward."}
+{"task_index": 29, "task": "Pick the smooth playingcards holder from the table and shift it outward."}
+{"task_index": 30, "task": "Lift the small playingcards container and set it away from the table."}
+{"task_index": 31, "task": "Lift the box with cards inside with the left arm and move it outward."}
+{"task_index": 32, "task": "Lift the smooth black cards container and slide it off the table."}
+{"task_index": 33, "task": "Grab the small playingcards pack and move it further away."}
+{"task_index": 34, "task": "Use the right arm to pick the rectangular blue playingcards case and move it outward."}
+{"task_index": 35, "task": "Use the left arm to pick up the blue playingcards box and move it."}
+{"task_index": 36, "task": "Move the box of playingcards outward from the table."}
+{"task_index": 37, "task": "Move the cardboard playing cards box away from its position on the table."}
+{"task_index": 38, "task": "Use the right arm to pick up the cardboard playing cards box and move it."}
+{"task_index": 39, "task": "Pick up the blue and white playingcards packaging with the left arm and place it outward."}
+{"task_index": 40, "task": "Place the rectangular box for card storage away from the table outward."}
+{"task_index": 41, "task": "Lift the smooth playingcards pack and place it farther away with the right arm."}
+{"task_index": 42, "task": "Pick up the smooth black cards container with the right arm and place it outward."}
+{"task_index": 43, "task": "Pick up the compact box for playing cards and shift it further outward."}
+{"task_index": 44, "task": "Grab the smooth playingcards holder using the right arm and push it outward."}
+{"task_index": 45, "task": "Pick up the palm-sized box for playing cards using the right arm and shift it outward."}
+{"task_index": 46, "task": "With the right arm, pick up the playingcards box with white accents and slide it outward."}
+{"task_index": 47, "task": "Lift the palm-sized playingcards carton and shift it outward."}
+{"task_index": 48, "task": "Grab the playingcards storage box with the right arm and move it outward."}
+{"task_index": 49, "task": "Move the rectangular playingcards case farther from the table using the left arm."}
diff --git a/open_laptop/meta/episodes.jsonl b/open_laptop/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fec6ef316601dd50d73102e0c9cbe0453f83c4b6
--- /dev/null
+++ b/open_laptop/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Open the laptop with blue screen carefully with the right arm."], "length": 226}
+{"episode_index": 1, "tasks": ["Use the left arm to open the compact black laptop."], "length": 223}
+{"episode_index": 2, "tasks": ["Pull open the laptop with blue screen"], "length": 224}
+{"episode_index": 3, "tasks": ["Use the left arm to open the metal laptop."], "length": 181}
+{"episode_index": 4, "tasks": ["Use the right arm to open the device with flat keyboard and screen."], "length": 354}
+{"episode_index": 5, "tasks": ["Pull the portable folding laptop upward lightly."], "length": 223}
+{"episode_index": 6, "tasks": ["With the right arm, open the lightweight laptop's lid."], "length": 150}
+{"episode_index": 7, "tasks": ["Pull the lid of the foldable laptop with screen upward."], "length": 232}
+{"episode_index": 8, "tasks": ["With the right arm, open the rectangular laptop with smooth texture's lid."], "length": 224}
+{"episode_index": 9, "tasks": ["Gently open the blue-black laptop."], "length": 230}
+{"episode_index": 10, "tasks": ["Lift the hinged screen laptop slightly."], "length": 227}
+{"episode_index": 11, "tasks": ["Open the folding laptop with screen and keyboard completely."], "length": 281}
+{"episode_index": 12, "tasks": ["Gently open the black laptop with hinge mechanism upward."], "length": 182}
+{"episode_index": 13, "tasks": ["Open the black and silver portable laptop lifting with the right arm"], "length": 229}
+{"episode_index": 14, "tasks": ["Use the left arm to open the black and silver laptop."], "length": 184}
+{"episode_index": 15, "tasks": ["Push the black laptop's lid upward using the right arm."], "length": 227}
+{"episode_index": 16, "tasks": ["Lift and open the Toshiba laptop with rectangular screen."], "length": 181}
+{"episode_index": 17, "tasks": ["Lift the foldable laptop with patterned keyboard slightly."], "length": 149}
+{"episode_index": 18, "tasks": ["Pull the rectangular laptop with folding hinge upward lightly."], "length": 222}
+{"episode_index": 19, "tasks": ["Pull the folding laptop with screen and keyboard open with the left arm."], "length": 183}
+{"episode_index": 20, "tasks": ["Use the right arm to lift the laptop with flat black keyboard"], "length": 256}
+{"episode_index": 21, "tasks": ["Open the lightweight laptop carefully with the right arm."], "length": 152}
+{"episode_index": 22, "tasks": ["Lift the compact black laptop to open it up"], "length": 182}
+{"episode_index": 23, "tasks": ["Grip and lift the rectangular laptop with hinge's lid."], "length": 224}
+{"episode_index": 24, "tasks": ["Use the left arm to raise the hinged screen laptop."], "length": 221}
+{"episode_index": 25, "tasks": ["Lift the laptop with wood panel background open with the left arm."], "length": 184}
+{"episode_index": 26, "tasks": ["Raise the portable slim laptop lid with the right arm."], "length": 151}
+{"episode_index": 27, "tasks": ["Pull the laptop with black textured screen upward lightly."], "length": 184}
+{"episode_index": 28, "tasks": ["Raise and open the laptop with wide black lid."], "length": 179}
+{"episode_index": 29, "tasks": ["Use the right arm to raise the black screen laptop."], "length": 184}
+{"episode_index": 30, "tasks": ["Open the clamshell laptop with flat screen entirely."], "length": 226}
+{"episode_index": 31, "tasks": ["Raise the lid of the clamshell laptop with flat screen."], "length": 225}
+{"episode_index": 32, "tasks": ["Slide the foldable laptop open with the right arm."], "length": 222}
+{"episode_index": 33, "tasks": ["Use the left arm to raise the medium-sized laptop."], "length": 314}
+{"episode_index": 34, "tasks": ["Gently lift the laptop with smooth surface using the left arm"], "length": 193}
+{"episode_index": 35, "tasks": ["Use the left arm to lift the laptop with wide black lid"], "length": 178}
+{"episode_index": 36, "tasks": ["Lift the metal laptop to open."], "length": 184}
+{"episode_index": 37, "tasks": ["Lift the laptop with metallic finish open with the left arm."], "length": 146}
+{"episode_index": 38, "tasks": ["Raise the black metallic laptop using the left arm."], "length": 156}
+{"episode_index": 39, "tasks": ["Lift the compact silver laptop's lid using the left arm."], "length": 148}
+{"episode_index": 40, "tasks": ["Use the right arm to open the laptop for browsing and computing."], "length": 231}
+{"episode_index": 41, "tasks": ["Lift the black laptop with red Toshiba logo's lid upwards."], "length": 184}
+{"episode_index": 42, "tasks": ["Gently lift the blue screen foldable laptop using the right arm"], "length": 225}
+{"episode_index": 43, "tasks": ["Lift and open the laptop with smooth keyboard area."], "length": 225}
+{"episode_index": 44, "tasks": ["Slide the laptop for typing and computing open with the right arm."], "length": 263}
+{"episode_index": 45, "tasks": ["Use the right arm to lift the laptop with shiny black surface"], "length": 229}
+{"episode_index": 46, "tasks": ["Raise the silver laptop with foldable parts to expose the screen"], "length": 184}
+{"episode_index": 47, "tasks": ["Use the right arm to open the laptop with wood panel background."], "length": 183}
+{"episode_index": 48, "tasks": ["Lift the black laptop with Saturn image on screen to open it up"], "length": 258}
+{"episode_index": 49, "tasks": ["Open the laptop with black keyboard carefully with the right arm."], "length": 189}
diff --git a/open_laptop/meta/episodes_stats.jsonl b/open_laptop/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00dd7076d60d6e8b4997aec9f3fe694742a242ae
--- /dev/null
+++ b/open_laptop/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/open_laptop/meta/info.json b/open_laptop/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46f0912b33af04cb50e059362a7f9d64ce06cb8
--- /dev/null
+++ b/open_laptop/meta/info.json
@@ -0,0 +1,170 @@
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+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/open_laptop/meta/tasks.jsonl b/open_laptop/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..269b2ba3c54ee14b834159b7c80123aeaf613bbc
--- /dev/null
+++ b/open_laptop/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Open the laptop with blue screen carefully with the right arm."}
+{"task_index": 1, "task": "Use the left arm to open the compact black laptop."}
+{"task_index": 2, "task": "Pull open the laptop with blue screen"}
+{"task_index": 3, "task": "Use the left arm to open the metal laptop."}
+{"task_index": 4, "task": "Use the right arm to open the device with flat keyboard and screen."}
+{"task_index": 5, "task": "Pull the portable folding laptop upward lightly."}
+{"task_index": 6, "task": "With the right arm, open the lightweight laptop's lid."}
+{"task_index": 7, "task": "Pull the lid of the foldable laptop with screen upward."}
+{"task_index": 8, "task": "With the right arm, open the rectangular laptop with smooth texture's lid."}
+{"task_index": 9, "task": "Gently open the blue-black laptop."}
+{"task_index": 10, "task": "Lift the hinged screen laptop slightly."}
+{"task_index": 11, "task": "Open the folding laptop with screen and keyboard completely."}
+{"task_index": 12, "task": "Gently open the black laptop with hinge mechanism upward."}
+{"task_index": 13, "task": "Open the black and silver portable laptop lifting with the right arm"}
+{"task_index": 14, "task": "Use the left arm to open the black and silver laptop."}
+{"task_index": 15, "task": "Push the black laptop's lid upward using the right arm."}
+{"task_index": 16, "task": "Lift and open the Toshiba laptop with rectangular screen."}
+{"task_index": 17, "task": "Lift the foldable laptop with patterned keyboard slightly."}
+{"task_index": 18, "task": "Pull the rectangular laptop with folding hinge upward lightly."}
+{"task_index": 19, "task": "Pull the folding laptop with screen and keyboard open with the left arm."}
+{"task_index": 20, "task": "Use the right arm to lift the laptop with flat black keyboard"}
+{"task_index": 21, "task": "Open the lightweight laptop carefully with the right arm."}
+{"task_index": 22, "task": "Lift the compact black laptop to open it up"}
+{"task_index": 23, "task": "Grip and lift the rectangular laptop with hinge's lid."}
+{"task_index": 24, "task": "Use the left arm to raise the hinged screen laptop."}
+{"task_index": 25, "task": "Lift the laptop with wood panel background open with the left arm."}
+{"task_index": 26, "task": "Raise the portable slim laptop lid with the right arm."}
+{"task_index": 27, "task": "Pull the laptop with black textured screen upward lightly."}
+{"task_index": 28, "task": "Raise and open the laptop with wide black lid."}
+{"task_index": 29, "task": "Use the right arm to raise the black screen laptop."}
+{"task_index": 30, "task": "Open the clamshell laptop with flat screen entirely."}
+{"task_index": 31, "task": "Raise the lid of the clamshell laptop with flat screen."}
+{"task_index": 32, "task": "Slide the foldable laptop open with the right arm."}
+{"task_index": 33, "task": "Use the left arm to raise the medium-sized laptop."}
+{"task_index": 34, "task": "Gently lift the laptop with smooth surface using the left arm"}
+{"task_index": 35, "task": "Use the left arm to lift the laptop with wide black lid"}
+{"task_index": 36, "task": "Lift the metal laptop to open."}
+{"task_index": 37, "task": "Lift the laptop with metallic finish open with the left arm."}
+{"task_index": 38, "task": "Raise the black metallic laptop using the left arm."}
+{"task_index": 39, "task": "Lift the compact silver laptop's lid using the left arm."}
+{"task_index": 40, "task": "Use the right arm to open the laptop for browsing and computing."}
+{"task_index": 41, "task": "Lift the black laptop with red Toshiba logo's lid upwards."}
+{"task_index": 42, "task": "Gently lift the blue screen foldable laptop using the right arm"}
+{"task_index": 43, "task": "Lift and open the laptop with smooth keyboard area."}
+{"task_index": 44, "task": "Slide the laptop for typing and computing open with the right arm."}
+{"task_index": 45, "task": "Use the right arm to lift the laptop with shiny black surface"}
+{"task_index": 46, "task": "Raise the silver laptop with foldable parts to expose the screen"}
+{"task_index": 47, "task": "Use the right arm to open the laptop with wood panel background."}
+{"task_index": 48, "task": "Lift the black laptop with Saturn image on screen to open it up"}
+{"task_index": 49, "task": "Open the laptop with black keyboard carefully with the right arm."}
diff --git a/place_a2b_left/meta/episodes_stats.jsonl b/place_a2b_left/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad7f166823402d8558e10e03669c44b77bb0dc45
--- /dev/null
+++ b/place_a2b_left/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.8516098260879517, 0.0, 0.0, -1.2222256660461426, -0.0014581131981685758, -0.8488631844520569, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "max": [0.0, 2.013359546661377, 1.5506775379180908, 0.0, 0.004382497165352106, 0.5134539604187012, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "mean": [-0.5105493664741516, 1.6964285373687744, 1.2180942296981812, -0.9311680793762207, 0.0009626153041608632, 0.009249352850019932, 0.46357616782188416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "std": [0.24757790565490723, 0.5162904858589172, 0.369430810213089, 0.30116894841194153, 0.0013569890288636088, 0.5791211128234863, 0.4684598445892334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [151]}, "action": {"min": [-0.8516098260879517, 0.0, 0.0, -1.2222256660461426, -0.0014581131981685758, -0.8488631844520569, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "max": [0.0, 2.013359546661377, 1.5506775379180908, 0.0, 0.004382497165352106, 0.5134539604187012, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "mean": [-0.5160921216011047, 1.7086496353149414, 1.2257041931152344, -0.9369733929634094, 0.0009765569702722132, 0.0037351101636886597, 0.46357616782188416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "std": [0.2454453557729721, 0.4974882900714874, 0.35584646463394165, 0.29145580530166626, 0.0013578410726040602, 0.5831332206726074, 0.4684598445892334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [151]}, "observation.images.cam_high": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.8634146527777777]], [[0.8440359538398693]], [[0.8458990788398693]]], "std": [[[0.25516676219023027]], [[0.25463953497905006]], [[0.2556564660982242]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.09803921568627451]], [[0.058823529411764705]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.8933286928104575]], [[0.7891866380718954]], [[0.7826512928921568]]], "std": [[[0.1309950351057097]], [[0.2337621965307751]], [[0.2386521573897924]]], "count": [100]}, "observation.images.cam_right_wrist": {"min": [[[0.16470588235294117]], [[0.16470588235294117]], [[0.1607843137254902]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.941296466503268]], [[0.9106644669117646]], [[0.9120738174019608]]], "std": [[[0.0969741697868576]], [[0.10757746621980233]], [[0.10711830428498406]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [10.0], "mean": [4.999999999999999], "std": [2.9059326290271157], "count": [151]}, "frame_index": {"min": [0], "max": [150], "mean": [75.0], "std": [43.58898943540674], "count": [151]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [151]}, "index": {"min": [0], "max": [150], "mean": [75.0], "std": [43.58898943540674], "count": [151]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [151]}}}
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diff --git a/place_a2b_left/meta/modality.json b/place_a2b_left/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/place_a2b_left/meta/modality.json
@@ -0,0 +1,62 @@
+{
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+        }
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+}
\ No newline at end of file
diff --git a/place_a2b_left/meta/stats_gr00t.json b/place_a2b_left/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01b5c9effd37a36d6babb02e53f63bfd1529937
--- /dev/null
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@@ -0,0 +1,298 @@
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+}
\ No newline at end of file
diff --git a/place_a2b_left/meta/tasks.jsonl b/place_a2b_left/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..147cdcf1d95e958414d742edd379a94444d39b11
--- /dev/null
+++ b/place_a2b_left/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Stick the coffee-box with creamy coffee image on the left of the mouse with sleek design"}
+{"task_index": 1, "task": "Using the right arm, move the black stapler for joining pages left of the coffee-box with Starbucks logo."}
+{"task_index": 2, "task": "With the left arm, set the red plastic stapler with smooth top on the left of the orange woodenblock with smooth green triangular part."}
+{"task_index": 3, "task": "Drop the tea-box with floral design on the left side of the palm-sized rectangular soap"}
+{"task_index": 4, "task": "Drop the pink car with purple windows on the left side of the light brown box with green emblem"}
+{"task_index": 5, "task": "Drop the round-topped golden bread to the left of the small toycar for kids play"}
+{"task_index": 6, "task": "Use the right arm to move the red plastic stapler with smooth top to the left of the rectangular box for card storage."}
+{"task_index": 7, "task": "Grab the miniature bright green toycar using the left arm and place it left of the playingcards storage box."}
+{"task_index": 8, "task": "With the left arm, place the black box with rectangular shape left of the light beige tea-box"}
+{"task_index": 9, "task": "Shift the red playingcards box leftward to the side of the small plastic green toycar"}
+{"task_index": 10, "task": "Grab the smooth black cards container using the right arm and place left of the light brown coffee-box with printed text."}
+{"task_index": 11, "task": "Set the small blue car-shaped toycar directly to the left of the blue playingcards box"}
+{"task_index": 12, "task": "Move the palm-sized blue toycar to the left of the smooth glass phone."}
+{"task_index": 13, "task": "Shift the soap with uneven tan grains leftward to the side of the black tea-box with gold logo"}
+{"task_index": 14, "task": "Put the smooth teal car on the left side of the blue soap"}
+{"task_index": 15, "task": "With the right arm, position the rubikscube with smooth square tiles left of the toycar with glossy finish."}
+{"task_index": 16, "task": "Place the palm-sized box for playing cards on the left of the light brown box for coffee."}
+{"task_index": 17, "task": "Using the right arm, set the compact red playingcards pack to the left of the slanted soap with smooth surface."}
+{"task_index": 18, "task": "Grab the mouse for cursor control using the left arm and move left of the pink toycar shaped like real car"}
+{"task_index": 19, "task": "Use the right arm, move the cleaning soap with spotted texture left of the handheld red stapler"}
+{"task_index": 20, "task": "Shift the compact tea-box and position it left of the medium-sized coffee-box."}
+{"task_index": 21, "task": "Set the stapler with orange button directly to the left of the black-bordered rubikscube"}
+{"task_index": 22, "task": "With the right arm, position the round bread with braided top left of the hand-sized woodenblock."}
+{"task_index": 23, "task": "Use the left arm, move the small toycar left of the rectangle-shaped cards box"}
+{"task_index": 24, "task": "Grab the office stapler with plastic and metal parts using the left arm and move left of the lightweight phone"}
+{"task_index": 25, "task": "With the right arm, place the shiny green toycar left of the thin metallic phone"}
+{"task_index": 26, "task": "With the right arm, stick the palm-sized black and white phone left of the tea box with printed leaves"}
+{"task_index": 27, "task": "Place the silver-edged phone on the left of the golden brown bread."}
+{"task_index": 28, "task": "Place the multicolored puzzle cube directly to the left of the hand-sized playingcards container."}
+{"task_index": 29, "task": "Using the left arm, place the blue carton for playingcards on the left of the cleaning soap with spotted texture"}
+{"task_index": 30, "task": "Move the coffee-box with orange logo to the left of the golden bread."}
+{"task_index": 31, "task": "Move the dark gray mouse with smooth texture to the left of the light gray rectangular cleaning soap."}
+{"task_index": 32, "task": "Position the bread block with light patches to the left of the coffee-box with smooth cardboard."}
+{"task_index": 33, "task": "Grab the box with orange coffee label with the right arm and shift it left of the smooth soap."}
+{"task_index": 34, "task": "Place the toycar with black roof and wheels left of the smooth glossy tea-box using the right arm"}
+{"task_index": 35, "task": "Use the right arm, move the plastic mouse with smooth finish left of the glass-front black phone"}
+{"task_index": 36, "task": "Carefully position the toycar with rounded compact shape to the left of the metallic phone with glass screen front."}
+{"task_index": 37, "task": "Using the right arm, place the tea-box with white TEA text on the left of the bread with golden surface color"}
+{"task_index": 38, "task": "Stick the rectangular soap with rounded corners on the left of the palm-sized box for playing cards"}
+{"task_index": 39, "task": "Use the right arm to move the white bell with black bottom to the blue stapler with curved design's left"}
+{"task_index": 40, "task": "Set the hand-sized rectangular coffee-box left of the rectangular soap."}
+{"task_index": 41, "task": "Put the toycar with smiling face design to the left of the compact phone"}
+{"task_index": 42, "task": "Grab the rectangular soap with rounded edges using the left arm and place it left of the dark mouse with logo on top."}
+{"task_index": 43, "task": "Shift the play car in teal and white and position it left of the soap bar in pale yellow."}
+{"task_index": 44, "task": "Shift the mouse with buttons and wheel and position it left of the square loaf of bread."}
+{"task_index": 45, "task": "With the left arm, set the blue stapler with shiny silver parts on the left of the circular-ended woodenblock."}
+{"task_index": 46, "task": "Grab the rubikscube made of square tiles with the left arm and set left of the blue toycar"}
+{"task_index": 47, "task": "With the left arm, set the rubikscube with green center tiles on the left of the compact tabletop bell."}
+{"task_index": 48, "task": "Use the left arm, move the toycar with white roof and teal body left of the stapler for fastening papers"}
+{"task_index": 49, "task": "Place the box for tea storage carefully to the mouse with buttons and wheel's left"}
diff --git a/place_bread_basket/meta/episodes.jsonl b/place_bread_basket/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b340790803487ff4e8171650c0432cd20ff82fd8
--- /dev/null
+++ b/place_bread_basket/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Use the left arm to grab the soft brown bread and drop it inside the medium woven breadbasket."], "length": 160}
+{"episode_index": 1, "tasks": ["Lift the soft golden baked bread and the smooth crusty small bread at once with the left arm, then set them in the light brown breadbasket."], "length": 314}
+{"episode_index": 2, "tasks": ["Grab the golden bread for the woven light beige breadbasket with the left arm"], "length": 165}
+{"episode_index": 3, "tasks": ["Simultaneously grab the doughy and soft bread and the bread loaf with bumpy surface using the dual arm, then drop them in the brown breadbasket."], "length": 230}
+{"episode_index": 4, "tasks": ["Pick up both the soft golden bread and the soft bread, then place them in the beige breadbasket."], "length": 225}
+{"episode_index": 5, "tasks": ["Shift the soft golden bread and the golden brown bread together to the breadbasket for dough."], "length": 226}
+{"episode_index": 6, "tasks": ["Take the bread with golden crust and the golden bread loaf to the woven rectangular breadbasket"], "length": 312}
+{"episode_index": 7, "tasks": ["Simultaneously grab the bread with golden crust and the sponge-textured golden bread using the right arm, then drop them in the beige basket for holding bread."], "length": 318}
+{"episode_index": 8, "tasks": ["Use two arms and set the bread loaf with square shape, the golden baked bread in the round breadbasket."], "length": 316}
+{"episode_index": 9, "tasks": ["Grab the soft golden bread with an arm and set in the round breadbasket."], "length": 160}
+{"episode_index": 10, "tasks": ["Grab the golden bread with an arm and set in the oval breadbasket."], "length": 157}
+{"episode_index": 11, "tasks": ["Pick up both the bread with rounded edges and the square-shaped bread piece, then place them in the light brown breadbasket."], "length": 230}
+{"episode_index": 12, "tasks": ["Pick up both the smooth crusty small bread and the soft brown bread, then place them in the beige breadbasket."], "length": 224}
+{"episode_index": 13, "tasks": ["Move the golden bread and the soft golden bread to the basket for bread beige plastic"], "length": 317}
+{"episode_index": 14, "tasks": ["Lift the golden brown bread with braided design and the brown loaf at once with the dual arm, then set them in the breadbasket with textured sides."], "length": 233}
+{"episode_index": 15, "tasks": ["Use two arms and set the smooth crusty small bread, the light brown bread with ridges in the medium woven breadbasket."], "length": 229}
+{"episode_index": 16, "tasks": ["Use two arms and set the bread with rounded edges, the golden bread loaf with soft inside in the plastic mesh breadbasket."], "length": 309}
+{"episode_index": 17, "tasks": ["Use both arms to move the light golden brown bread, the small loaf with curved top to the breadbasket with flat base."], "length": 225}
+{"episode_index": 18, "tasks": ["Pick the braided bread loaf and the golden brown loaf-shaped bread for the the breadbasket with flat base"], "length": 229}
+{"episode_index": 19, "tasks": ["Pick up both the rectangular bread soft inside and the round bread with crusty texture, then place them in the brown breadbasket with rounded corners."], "length": 227}
+{"episode_index": 20, "tasks": ["Move the hand-sized oval loaf and the brown bread loaf to the two-hand-sized breadbasket"], "length": 225}
+{"episode_index": 21, "tasks": ["Lift the square-shaped bread piece and transfer to the medium woven breadbasket."], "length": 162}
+{"episode_index": 22, "tasks": ["Pick the sponge-textured golden bread and move it to the breadbasket for small food items."], "length": 163}
+{"episode_index": 23, "tasks": ["Move the soft golden baked bread and the bread with warm golden color to the brown breadbasket"], "length": 314}
+{"episode_index": 24, "tasks": ["Grab the bread with rough texture with an arm and set in the beige plastic breadbasket."], "length": 162}
+{"episode_index": 25, "tasks": ["Take the bread with firm crust edges and the bread with warm golden color, place them inside the smooth beige breadbasket."], "length": 329}
+{"episode_index": 26, "tasks": ["Pick up both the bread with rounded corners and the bread loaf with uneven edges, then place them in the breadbasket for dough."], "length": 228}
+{"episode_index": 27, "tasks": ["Grab both the light golden brown bread and the medium-sized bread piece, drop into the breadbasket for small food items."], "length": 226}
+{"episode_index": 28, "tasks": ["Use both arms to move the light golden brown bread, the medium bread with rounded sides to the breadbasket for holding bread."], "length": 233}
+{"episode_index": 29, "tasks": ["Place the golden bread and the square-shaped bread in the plastic mesh breadbasket using the dual arm"], "length": 235}
+{"episode_index": 30, "tasks": ["Pick up both the light brown porous bread and the light brown porous bread, then place them in the oval-shaped breadbasket."], "length": 231}
+{"episode_index": 31, "tasks": ["Simultaneously grab the hand-sized bread block and the bread with rounded edges using the dual arm, then drop them in the medium plastic breadbasket oval shape."], "length": 232}
+{"episode_index": 32, "tasks": ["Simultaneously use the dual arm to drop the small loaf with curved top and the light brown bread with ridges in the breadbasket for bread storage."], "length": 227}
+{"episode_index": 33, "tasks": ["Grab the golden brown loaf-shaped bread and the light golden brown bread quickly and drop them into the light and textured breadbasket."], "length": 308}
+{"episode_index": 34, "tasks": ["Grab the medium-sized bread piece with an arm and set in the rectangular breadbasket."], "length": 164}
+{"episode_index": 35, "tasks": ["Pick the rectangular bread soft inside and the golden bread loaf, place them in the plastic mesh breadbasket."], "length": 232}
+{"episode_index": 36, "tasks": ["Pick the golden brown bread and the bread with golden-brown crust, place them in the white oval breadbasket."], "length": 224}
+{"episode_index": 37, "tasks": ["Take the brown bread loaf and the soft bread, place them inside the two-hand-sized breadbasket."], "length": 321}
+{"episode_index": 38, "tasks": ["Shift the braided bread loaf and the golden brown loaf-shaped bread into the medium oval basket for bread"], "length": 234}
+{"episode_index": 39, "tasks": ["Use two arms and set the small golden baked bread, the bread with split top in the medium breadbasket."], "length": 313}
+{"episode_index": 40, "tasks": ["Lift the light brown porous bread and set it in the light brown wicker breadbasket."], "length": 159}
+{"episode_index": 41, "tasks": ["Put the square loaf of bread and the golden bread into the plastic mesh breadbasket using two arms."], "length": 316}
+{"episode_index": 42, "tasks": ["Place the hand-sized bread block and the bread with golden-brown crust in the light brown breadbasket using the dual arm"], "length": 234}
+{"episode_index": 43, "tasks": ["Take the soft doughy bread and the bread with firm crust edges then place in the smooth textured breadbasket."], "length": 226}
+{"episode_index": 44, "tasks": ["Lift the golden brown bread and the light brown loaf with smooth sides with two arms, put in the woven rectangular breadbasket."], "length": 229}
+{"episode_index": 45, "tasks": ["Take the rectangular bread soft inside and the soft brown bread, place them inside the synthetic material breadbasket."], "length": 309}
+{"episode_index": 46, "tasks": ["Take the hand-sized oval loaf and the square loaf of bread, place them inside the beige basket for holding bread."], "length": 227}
+{"episode_index": 47, "tasks": ["Lift the bread with rounded corners and the soft brown bread with two arms, put in the beige basket for holding bread."], "length": 226}
+{"episode_index": 48, "tasks": ["Pick the hand-sized oval loaf and the bread with golden surface color, place them in the breadbasket with wicker weave pattern."], "length": 228}
+{"episode_index": 49, "tasks": ["Simultaneously grab the soft bread and the square-shaped bread piece, drop in the oval-shaped breadbasket."], "length": 233}
diff --git a/place_bread_basket/meta/episodes_stats.jsonl b/place_bread_basket/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e93782cb106f57201432801de84aa0167a9b2340
--- /dev/null
+++ b/place_bread_basket/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/place_bread_basket/meta/info.json b/place_bread_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d4258f3eba43ca3aade90adeda8443b9f91971e
--- /dev/null
+++ b/place_bread_basket/meta/info.json
@@ -0,0 +1,170 @@
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\ No newline at end of file
diff --git a/place_bread_basket/meta/modality.json b/place_bread_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/place_bread_basket/meta/modality.json
@@ -0,0 +1,62 @@
+{
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+            "end": 6,
+            "original_key": "action"
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+        "left_gripper": {
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+            "end": 7,
+            "original_key": "action"
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+        "right_joints": {
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+            "original_key": "action"
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+        "right_gripper": {
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+            "end": 14,
+            "original_key": "action"
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+    },
+    "state": {
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+            "original_key": "observation.state"
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+            "end": 7,
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+        "right_joints": {
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+        "right_gripper": {
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+            "end": 14,
+            "original_key": "observation.state"
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+    "video": {
+        "cam_high": {
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+        "cam_left_wrist": {
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+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_bread_basket/meta/stats_gr00t.json b/place_bread_basket/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e231f46176472f0e40f0e0dac7c194373f75ea9
--- /dev/null
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@@ -0,0 +1,298 @@
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diff --git a/place_bread_basket/meta/tasks.jsonl b/place_bread_basket/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e2fe719e58b37158e048d13fb0e87f5e11d1a50
--- /dev/null
+++ b/place_bread_basket/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Use the left arm to grab the soft brown bread and drop it inside the medium woven breadbasket."}
+{"task_index": 1, "task": "Lift the soft golden baked bread and the smooth crusty small bread at once with the left arm, then set them in the light brown breadbasket."}
+{"task_index": 2, "task": "Grab the golden bread for the woven light beige breadbasket with the left arm"}
+{"task_index": 3, "task": "Simultaneously grab the doughy and soft bread and the bread loaf with bumpy surface using the dual arm, then drop them in the brown breadbasket."}
+{"task_index": 4, "task": "Pick up both the soft golden bread and the soft bread, then place them in the beige breadbasket."}
+{"task_index": 5, "task": "Shift the soft golden bread and the golden brown bread together to the breadbasket for dough."}
+{"task_index": 6, "task": "Take the bread with golden crust and the golden bread loaf to the woven rectangular breadbasket"}
+{"task_index": 7, "task": "Simultaneously grab the bread with golden crust and the sponge-textured golden bread using the right arm, then drop them in the beige basket for holding bread."}
+{"task_index": 8, "task": "Use two arms and set the bread loaf with square shape, the golden baked bread in the round breadbasket."}
+{"task_index": 9, "task": "Grab the soft golden bread with an arm and set in the round breadbasket."}
+{"task_index": 10, "task": "Grab the golden bread with an arm and set in the oval breadbasket."}
+{"task_index": 11, "task": "Pick up both the bread with rounded edges and the square-shaped bread piece, then place them in the light brown breadbasket."}
+{"task_index": 12, "task": "Pick up both the smooth crusty small bread and the soft brown bread, then place them in the beige breadbasket."}
+{"task_index": 13, "task": "Move the golden bread and the soft golden bread to the basket for bread beige plastic"}
+{"task_index": 14, "task": "Lift the golden brown bread with braided design and the brown loaf at once with the dual arm, then set them in the breadbasket with textured sides."}
+{"task_index": 15, "task": "Use two arms and set the smooth crusty small bread, the light brown bread with ridges in the medium woven breadbasket."}
+{"task_index": 16, "task": "Use two arms and set the bread with rounded edges, the golden bread loaf with soft inside in the plastic mesh breadbasket."}
+{"task_index": 17, "task": "Use both arms to move the light golden brown bread, the small loaf with curved top to the breadbasket with flat base."}
+{"task_index": 18, "task": "Pick the braided bread loaf and the golden brown loaf-shaped bread for the the breadbasket with flat base"}
+{"task_index": 19, "task": "Pick up both the rectangular bread soft inside and the round bread with crusty texture, then place them in the brown breadbasket with rounded corners."}
+{"task_index": 20, "task": "Move the hand-sized oval loaf and the brown bread loaf to the two-hand-sized breadbasket"}
+{"task_index": 21, "task": "Lift the square-shaped bread piece and transfer to the medium woven breadbasket."}
+{"task_index": 22, "task": "Pick the sponge-textured golden bread and move it to the breadbasket for small food items."}
+{"task_index": 23, "task": "Move the soft golden baked bread and the bread with warm golden color to the brown breadbasket"}
+{"task_index": 24, "task": "Grab the bread with rough texture with an arm and set in the beige plastic breadbasket."}
+{"task_index": 25, "task": "Take the bread with firm crust edges and the bread with warm golden color, place them inside the smooth beige breadbasket."}
+{"task_index": 26, "task": "Pick up both the bread with rounded corners and the bread loaf with uneven edges, then place them in the breadbasket for dough."}
+{"task_index": 27, "task": "Grab both the light golden brown bread and the medium-sized bread piece, drop into the breadbasket for small food items."}
+{"task_index": 28, "task": "Use both arms to move the light golden brown bread, the medium bread with rounded sides to the breadbasket for holding bread."}
+{"task_index": 29, "task": "Place the golden bread and the square-shaped bread in the plastic mesh breadbasket using the dual arm"}
+{"task_index": 30, "task": "Pick up both the light brown porous bread and the light brown porous bread, then place them in the oval-shaped breadbasket."}
+{"task_index": 31, "task": "Simultaneously grab the hand-sized bread block and the bread with rounded edges using the dual arm, then drop them in the medium plastic breadbasket oval shape."}
+{"task_index": 32, "task": "Simultaneously use the dual arm to drop the small loaf with curved top and the light brown bread with ridges in the breadbasket for bread storage."}
+{"task_index": 33, "task": "Grab the golden brown loaf-shaped bread and the light golden brown bread quickly and drop them into the light and textured breadbasket."}
+{"task_index": 34, "task": "Grab the medium-sized bread piece with an arm and set in the rectangular breadbasket."}
+{"task_index": 35, "task": "Pick the rectangular bread soft inside and the golden bread loaf, place them in the plastic mesh breadbasket."}
+{"task_index": 36, "task": "Pick the golden brown bread and the bread with golden-brown crust, place them in the white oval breadbasket."}
+{"task_index": 37, "task": "Take the brown bread loaf and the soft bread, place them inside the two-hand-sized breadbasket."}
+{"task_index": 38, "task": "Shift the braided bread loaf and the golden brown loaf-shaped bread into the medium oval basket for bread"}
+{"task_index": 39, "task": "Use two arms and set the small golden baked bread, the bread with split top in the medium breadbasket."}
+{"task_index": 40, "task": "Lift the light brown porous bread and set it in the light brown wicker breadbasket."}
+{"task_index": 41, "task": "Put the square loaf of bread and the golden bread into the plastic mesh breadbasket using two arms."}
+{"task_index": 42, "task": "Place the hand-sized bread block and the bread with golden-brown crust in the light brown breadbasket using the dual arm"}
+{"task_index": 43, "task": "Take the soft doughy bread and the bread with firm crust edges then place in the smooth textured breadbasket."}
+{"task_index": 44, "task": "Lift the golden brown bread and the light brown loaf with smooth sides with two arms, put in the woven rectangular breadbasket."}
+{"task_index": 45, "task": "Take the rectangular bread soft inside and the soft brown bread, place them inside the synthetic material breadbasket."}
+{"task_index": 46, "task": "Take the hand-sized oval loaf and the square loaf of bread, place them inside the beige basket for holding bread."}
+{"task_index": 47, "task": "Lift the bread with rounded corners and the soft brown bread with two arms, put in the beige basket for holding bread."}
+{"task_index": 48, "task": "Pick the hand-sized oval loaf and the bread with golden surface color, place them in the breadbasket with wicker weave pattern."}
+{"task_index": 49, "task": "Simultaneously grab the soft bread and the square-shaped bread piece, drop in the oval-shaped breadbasket."}
diff --git a/place_can_basket/meta/episodes.jsonl b/place_can_basket/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af79b80d55cd44bf01e07a8f0b9567e334ebc223
--- /dev/null
+++ b/place_can_basket/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Grab the Coca-Cola can with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm."], "length": 262}
+{"episode_index": 1, "tasks": ["Pick the cylindrical metal can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm."], "length": 244}
+{"episode_index": 2, "tasks": ["Lift the can with red-orange text, place it in the basket with black handle, and raise the basket with black handle."], "length": 253}
+{"episode_index": 3, "tasks": ["Pick the light brown can with smooth texture with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm."], "length": 268}
+{"episode_index": 4, "tasks": ["Lift the small aluminum red drink can, place it in the light brown oval basket, and raise the light brown oval basket."], "length": 249}
+{"episode_index": 5, "tasks": ["Drop the green red metallic soda can into the medium yellow basket with slots using the left arm, then lift the medium yellow basket with slots with another arm."], "length": 239}
+{"episode_index": 6, "tasks": ["Pick the red beverage can with curved top, set it in the basket with loop handle, then lift the basket with loop handle."], "length": 272}
+{"episode_index": 7, "tasks": ["Use the right arm to take the green red metallic soda can, drop it in the basket with loop handle, and lift the basket with loop handle."], "length": 249}
+{"episode_index": 8, "tasks": ["Take the small soda can with lime graphics in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket."], "length": 250}
+{"episode_index": 9, "tasks": ["Lift the smooth brown can with rounded edges, place it in the yellow basket, and raise the yellow basket."], "length": 243}
+{"episode_index": 10, "tasks": ["Pick the green red metallic soda can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm."], "length": 252}
+{"episode_index": 11, "tasks": ["Use the left arm to grab the light brown can with smooth texture, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm."], "length": 249}
+{"episode_index": 12, "tasks": ["Pick up the smooth cylindrical can with lime pattern with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges."], "length": 247}
+{"episode_index": 13, "tasks": ["Take the smooth white can with accents and put it in the yellow basket, then lift the yellow basket."], "length": 247}
+{"episode_index": 14, "tasks": ["Pick up the red cylindrical can with silver top, put it into the basket with arched black grip, and lift the basket with arched black grip."], "length": 245}
+{"episode_index": 15, "tasks": ["Pick up the can with gold top lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface."], "length": 244}
+{"episode_index": 16, "tasks": ["Take the small aluminum red drink can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm."], "length": 269}
+{"episode_index": 17, "tasks": ["Use the left arm to grab the can with gold top lid, put it into the woven basket, and lift the woven basket with another arm."], "length": 249}
+{"episode_index": 18, "tasks": ["Pick up the white can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket."], "length": 266}
+{"episode_index": 19, "tasks": ["Pick up the smooth red can, place it into the basket with arched black grip, then lift the basket with arched black grip."], "length": 256}
+{"episode_index": 20, "tasks": ["Grab the palm-sized drink can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm."], "length": 247}
+{"episode_index": 21, "tasks": ["Pick the medium-sized soda can using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm."], "length": 241}
+{"episode_index": 22, "tasks": ["Pick the metallic drink can with pull-tab, set it in the handheld basket, and lift the handheld basket upward."], "length": 267}
+{"episode_index": 23, "tasks": ["Lift the rounded metallic can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward."], "length": 251}
+{"episode_index": 24, "tasks": ["Place the smooth brown can with rounded edges in the yellow basket and then use another arm to lift the yellow basket."], "length": 242}
+{"episode_index": 25, "tasks": ["Pick up the red beverage can with curved top, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body."], "length": 246}
+{"episode_index": 26, "tasks": ["Use the left arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the brown basket with woven ridges, and lift the brown basket with woven ridges."], "length": 256}
+{"episode_index": 27, "tasks": ["Grab the metal can with white decorative designs, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle."], "length": 257}
+{"episode_index": 28, "tasks": ["Use the right arm to hold the green red metallic soda can, drop the green red metallic soda can into the basket for holding items, and lift the basket for holding items."], "length": 250}
+{"episode_index": 29, "tasks": ["Grab the red can with decorative label, place it in the basket for holding items, and then lift the basket for holding items."], "length": 265}
+{"episode_index": 30, "tasks": ["Lift the drink can with light brown shade, put it in the basket with handle, and carry the basket with handle afterward."], "length": 250}
+{"episode_index": 31, "tasks": ["Place the soda can with lime illustration in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle."], "length": 248}
+{"episode_index": 32, "tasks": ["Lift the can with flat silver bottom, set it in the handheld basket, and elevate the handheld basket."], "length": 244}
+{"episode_index": 33, "tasks": ["Grab the metallic soda can, set it into the basket with arched black grip, then raise the basket with arched black grip."], "length": 247}
+{"episode_index": 34, "tasks": ["Grab the red can with decorative label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards."], "length": 254}
+{"episode_index": 35, "tasks": ["Place the medium-sized soda can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff."], "length": 244}
+{"episode_index": 36, "tasks": ["Grab the white can with the left arm, put it into the basket with black handle, and lift the basket with black handle with the other arm."], "length": 246}
+{"episode_index": 37, "tasks": ["Pick the red cylindrical can with silver top using the left arm, drop it in the brown basket, and lift the brown basket with the other arm."], "length": 262}
+{"episode_index": 38, "tasks": ["Lift the brown can, put it in the basket with perforated sides, and carry the basket with perforated sides afterward."], "length": 247}
+{"episode_index": 39, "tasks": ["Take the smooth brown can with rounded edges and put it in the basket with perforated sides, then lift the basket with perforated sides."], "length": 266}
+{"episode_index": 40, "tasks": ["Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the woven basket and lift the woven basket."], "length": 254}
+{"episode_index": 41, "tasks": ["Pick up the smooth light brown can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket."], "length": 254}
+{"episode_index": 42, "tasks": ["Grab the smooth white can with accents, put it in the light brown oval basket, then raise the light brown oval basket."], "length": 255}
+{"episode_index": 43, "tasks": ["Pick the metal can with white decorative designs, set it in the basket made of woven wood, and lift the basket made of woven wood upward."], "length": 248}
+{"episode_index": 44, "tasks": ["Lift the metallic drink can with pull-tab with the left arm, set it in the basket made of woven wood, and lift with another arm."], "length": 257}
+{"episode_index": 45, "tasks": ["Lift the red and gold cylindrical can with the left arm, set it in the basket for holding items, and lift with another arm."], "length": 249}
+{"episode_index": 46, "tasks": ["Take the Coca-Cola soda can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm."], "length": 247}
+{"episode_index": 47, "tasks": ["Pick the medium metal can, set it in the basket with black handle, then lift the basket with black handle."], "length": 249}
+{"episode_index": 48, "tasks": ["Grab the palm-sized drink can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle."], "length": 268}
+{"episode_index": 49, "tasks": ["Take the small cylindrical drink container and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface."], "length": 254}
diff --git a/place_can_basket/meta/info.json b/place_can_basket/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e880187f06df1f206e95d6977d8707a2f388793a
--- /dev/null
+++ b/place_can_basket/meta/info.json
@@ -0,0 +1,170 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "aloha",
+    "total_episodes": 50,
+    "total_frames": 12618,
+    "total_tasks": 50,
+    "total_videos": 150,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:50"
+    },
+    "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": {
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+                    "left_wrist_angle",
+                    "left_wrist_rotate",
+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
+                    "right_gripper"
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+            ]
+        },
+        "action": {
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+            "shape": [
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+            "names": [
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+                    "left_elbow",
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+                    "left_wrist_angle",
+                    "left_wrist_rotate",
+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
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+                480,
+                640
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+            "names": [
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+                "height",
+                "width"
+            ],
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+                "video.width": 640,
+                "video.codec": "av1",
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+}
\ No newline at end of file
diff --git a/place_can_basket/meta/modality.json b/place_can_basket/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/place_can_basket/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
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+            "end": 7,
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+        "right_joints": {
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+            "original_key": "action"
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+        "right_gripper": {
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+            "end": 14,
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+        "right_gripper": {
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+            "end": 14,
+            "original_key": "observation.state"
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+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
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+        "cam_left_wrist": {
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+        "cam_right_wrist": {
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+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_can_basket/meta/stats_gr00t.json b/place_can_basket/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..d537fbe6c49a77e104da2e9e46d2d3cf13619fe4
--- /dev/null
+++ b/place_can_basket/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
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\ No newline at end of file
diff --git a/place_can_basket/meta/tasks.jsonl b/place_can_basket/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c4729279d4a9671b6603b5edbd92c2d1c8d6432
--- /dev/null
+++ b/place_can_basket/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Grab the Coca-Cola can with the left arm, put it into the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff with the other arm."}
+{"task_index": 1, "task": "Pick the cylindrical metal can with the right arm, set it in the handheld basket, and lift the handheld basket using another arm."}
+{"task_index": 2, "task": "Lift the can with red-orange text, place it in the basket with black handle, and raise the basket with black handle."}
+{"task_index": 3, "task": "Pick the light brown can with smooth texture with the left arm, set it in the yellow basket for carrying stuff, and lift the yellow basket for carrying stuff using another arm."}
+{"task_index": 4, "task": "Lift the small aluminum red drink can, place it in the light brown oval basket, and raise the light brown oval basket."}
+{"task_index": 5, "task": "Drop the green red metallic soda can into the medium yellow basket with slots using the left arm, then lift the medium yellow basket with slots with another arm."}
+{"task_index": 6, "task": "Pick the red beverage can with curved top, set it in the basket with loop handle, then lift the basket with loop handle."}
+{"task_index": 7, "task": "Use the right arm to take the green red metallic soda can, drop it in the basket with loop handle, and lift the basket with loop handle."}
+{"task_index": 8, "task": "Take the small soda can with lime graphics in the left arm, place it into the rectangular yellow basket, another arm lifts the rectangular yellow basket."}
+{"task_index": 9, "task": "Lift the smooth brown can with rounded edges, place it in the yellow basket, and raise the yellow basket."}
+{"task_index": 10, "task": "Pick the green red metallic soda can with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm."}
+{"task_index": 11, "task": "Use the left arm to grab the light brown can with smooth texture, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm."}
+{"task_index": 12, "task": "Pick up the smooth cylindrical can with lime pattern with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges."}
+{"task_index": 13, "task": "Take the smooth white can with accents and put it in the yellow basket, then lift the yellow basket."}
+{"task_index": 14, "task": "Pick up the red cylindrical can with silver top, put it into the basket with arched black grip, and lift the basket with arched black grip."}
+{"task_index": 15, "task": "Pick up the can with gold top lid, put it into the rectangular basket with smooth surface, and lift the rectangular basket with smooth surface."}
+{"task_index": 16, "task": "Take the small aluminum red drink can with the right arm, drop it into the basket with black handle, and lift the basket with black handle using another arm."}
+{"task_index": 17, "task": "Use the left arm to grab the can with gold top lid, put it into the woven basket, and lift the woven basket with another arm."}
+{"task_index": 18, "task": "Pick up the white can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket."}
+{"task_index": 19, "task": "Pick up the smooth red can, place it into the basket with arched black grip, then lift the basket with arched black grip."}
+{"task_index": 20, "task": "Grab the palm-sized drink can, place it in the basket with loop handle, and raise the basket with loop handle using the other arm."}
+{"task_index": 21, "task": "Pick the medium-sized soda can using the left arm, drop it in the bright yellow basket, and lift the bright yellow basket with the other arm."}
+{"task_index": 22, "task": "Pick the metallic drink can with pull-tab, set it in the handheld basket, and lift the handheld basket upward."}
+{"task_index": 23, "task": "Lift the rounded metallic can, place it in the basket with arched black grip, pick up the basket with arched black grip afterward."}
+{"task_index": 24, "task": "Place the smooth brown can with rounded edges in the yellow basket and then use another arm to lift the yellow basket."}
+{"task_index": 25, "task": "Pick up the red beverage can with curved top, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body."}
+{"task_index": 26, "task": "Use the left arm for the rounded red Coca-Cola soda container, place the rounded red Coca-Cola soda container in the brown basket with woven ridges, and lift the brown basket with woven ridges."}
+{"task_index": 27, "task": "Grab the metal can with white decorative designs, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle."}
+{"task_index": 28, "task": "Use the right arm to hold the green red metallic soda can, drop the green red metallic soda can into the basket for holding items, and lift the basket for holding items."}
+{"task_index": 29, "task": "Grab the red can with decorative label, place it in the basket for holding items, and then lift the basket for holding items."}
+{"task_index": 30, "task": "Lift the drink can with light brown shade, put it in the basket with handle, and carry the basket with handle afterward."}
+{"task_index": 31, "task": "Place the soda can with lime illustration in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle."}
+{"task_index": 32, "task": "Lift the can with flat silver bottom, set it in the handheld basket, and elevate the handheld basket."}
+{"task_index": 33, "task": "Grab the metallic soda can, set it into the basket with arched black grip, then raise the basket with arched black grip."}
+{"task_index": 34, "task": "Grab the red can with decorative label, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards."}
+{"task_index": 35, "task": "Place the medium-sized soda can inside the yellow basket for carrying stuff, then lift the yellow basket for carrying stuff."}
+{"task_index": 36, "task": "Grab the white can with the left arm, put it into the basket with black handle, and lift the basket with black handle with the other arm."}
+{"task_index": 37, "task": "Pick the red cylindrical can with silver top using the left arm, drop it in the brown basket, and lift the brown basket with the other arm."}
+{"task_index": 38, "task": "Lift the brown can, put it in the basket with perforated sides, and carry the basket with perforated sides afterward."}
+{"task_index": 39, "task": "Take the smooth brown can with rounded edges and put it in the basket with perforated sides, then lift the basket with perforated sides."}
+{"task_index": 40, "task": "Grab the colorful can with lime and orange design using the right arm, drop the colorful can with lime and orange design into the woven basket and lift the woven basket."}
+{"task_index": 41, "task": "Pick up the smooth light brown can with the left arm, place into the smooth ribbed light brown basket, the other arm raises the smooth ribbed light brown basket."}
+{"task_index": 42, "task": "Grab the smooth white can with accents, put it in the light brown oval basket, then raise the light brown oval basket."}
+{"task_index": 43, "task": "Pick the metal can with white decorative designs, set it in the basket made of woven wood, and lift the basket made of woven wood upward."}
+{"task_index": 44, "task": "Lift the metallic drink can with pull-tab with the left arm, set it in the basket made of woven wood, and lift with another arm."}
+{"task_index": 45, "task": "Lift the red and gold cylindrical can with the left arm, set it in the basket for holding items, and lift with another arm."}
+{"task_index": 46, "task": "Take the Coca-Cola soda can with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm."}
+{"task_index": 47, "task": "Pick the medium metal can, set it in the basket with black handle, then lift the basket with black handle."}
+{"task_index": 48, "task": "Grab the palm-sized drink can, drop it into the carrying basket with black plastic handle, then use another arm for the carrying basket with black plastic handle."}
+{"task_index": 49, "task": "Take the small cylindrical drink container and put it in the rectangular basket with smooth surface, then lift the rectangular basket with smooth surface."}
diff --git a/place_empty_cup/meta/episodes.jsonl b/place_empty_cup/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57aab7993c7dbab5e1dc0cb6562feef7239e29ca
--- /dev/null
+++ b/place_empty_cup/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Stick the cup with light blue color onto the coaster made of smooth wood carefully."], "length": 170}
+{"episode_index": 1, "tasks": ["Stick the rounded base blue cup onto the flat round wooden coaster carefully."], "length": 166}
+{"episode_index": 2, "tasks": ["Move the cup for holding liquids using the arm onto the light gray round grainy coaster."], "length": 165}
+{"episode_index": 3, "tasks": ["Lift the plastic cup for drinks up and drop it on the light gray round grainy coaster."], "length": 168}
+{"episode_index": 4, "tasks": ["Use the arm to put the medium blue cylindrical cup onto the grainy texture coaster."], "length": 169}
+{"episode_index": 5, "tasks": ["Pick the medium blue cylindrical cup up and drop it on the coaster with circular shape."], "length": 165}
+{"episode_index": 6, "tasks": ["Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm"], "length": 169}
+{"episode_index": 7, "tasks": ["Position the medium blue cylindrical cup carefully on the small coaster with grain texture"], "length": 170}
+{"episode_index": 8, "tasks": ["Slide the medium blue cylindrical cup onto the flat round wooden coaster with the arm."], "length": 164}
+{"episode_index": 9, "tasks": ["Grab the medium blue cylindrical cup and place it on the round coaster."], "length": 172}
+{"episode_index": 10, "tasks": ["Position the blue rounded-bottom cup above and drop it on the smooth round palm-sized coaster"], "length": 167}
+{"episode_index": 11, "tasks": ["Use an arm to place the cup for holding liquids on the coaster with circular shape"], "length": 168}
+{"episode_index": 12, "tasks": ["Make sure the cup for holding liquids ends up on the round coaster."], "length": 171}
+{"episode_index": 13, "tasks": ["Use the arm to position the smooth blue cup for liquids onto the round coaster."], "length": 165}
+{"episode_index": 14, "tasks": ["Use arm to place the cup for holding liquids on the round coaster"], "length": 186}
+{"episode_index": 15, "tasks": ["Use the arm to position the cylindrical light blue cup onto the coaster made of smooth wood."], "length": 181}
+{"episode_index": 16, "tasks": ["Place the medium-sized plastic blue cup on top of the smooth round palm-sized coaster"], "length": 179}
+{"episode_index": 17, "tasks": ["Make sure the cup for holding liquids ends up on the light gray round grainy coaster."], "length": 168}
+{"episode_index": 18, "tasks": ["Use the arm to slide the medium-sized plastic blue cup onto the flat round wooden coaster."], "length": 171}
+{"episode_index": 19, "tasks": ["Using the arm, drop the cylindrical light blue cup onto the grainy texture coaster."], "length": 172}
+{"episode_index": 20, "tasks": ["Move the smooth blue drinking cup to the small coaster with grain texture"], "length": 189}
+{"episode_index": 21, "tasks": ["Use an arm to place the cup with light blue color on the light gray round grainy coaster"], "length": 176}
+{"episode_index": 22, "tasks": ["Set the cup with light blue color onto the grainy texture coaster using the arm."], "length": 184}
+{"episode_index": 23, "tasks": ["Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm"], "length": 172}
+{"episode_index": 24, "tasks": ["Grab the medium blue cylindrical cup and lower it onto the coaster made of smooth wood"], "length": 177}
+{"episode_index": 25, "tasks": ["Use an arm to drop the medium-sized plastic blue cup on the round coaster"], "length": 174}
+{"episode_index": 26, "tasks": ["Set the plastic cup for drinks onto the small coaster with grain texture using the arm."], "length": 175}
+{"episode_index": 27, "tasks": ["Position the cup with smooth plastic surface above and drop it on the flat surface gray wooden coaster"], "length": 172}
+{"episode_index": 28, "tasks": ["Use the arm to put the cup with light blue color onto the wooden coaster."], "length": 172}
+{"episode_index": 29, "tasks": ["Move the light blue plastic cup using the arm onto the small coaster with grain texture."], "length": 168}
+{"episode_index": 30, "tasks": ["Direct the rounded base blue cup to the flat surface gray wooden coaster and let it rest."], "length": 179}
+{"episode_index": 31, "tasks": ["Lift the cylindrical light blue cup up and drop it on the coaster made of smooth wood."], "length": 171}
+{"episode_index": 32, "tasks": ["Move the rounded base blue cup to the round coaster with light streaks and set it down."], "length": 179}
+{"episode_index": 33, "tasks": ["Move the light blue plastic cup to the grainy texture coaster and set it down."], "length": 167}
+{"episode_index": 34, "tasks": ["Slide the cylindrical light blue cup onto the light gray streaked wooden coaster"], "length": 175}
+{"episode_index": 35, "tasks": ["Grab the cup with smooth plastic surface and place it on the flat round wooden coaster."], "length": 173}
+{"episode_index": 36, "tasks": ["Position the cup with smooth plastic surface carefully on the coaster with circular shape"], "length": 179}
+{"episode_index": 37, "tasks": ["Using the arm, slide the cup with smooth plastic surface onto the light gray round grainy coaster."], "length": 172}
+{"episode_index": 38, "tasks": ["Use the arm to position the cup with light blue color onto the coaster made of smooth wood."], "length": 165}
+{"episode_index": 39, "tasks": ["Use an arm to place the smooth blue cup for liquids on the flat round wooden coaster"], "length": 166}
+{"episode_index": 40, "tasks": ["Slide the smooth blue cup for liquids gently onto the coaster made of smooth wood via the arm."], "length": 173}
+{"episode_index": 41, "tasks": ["Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks"], "length": 172}
+{"episode_index": 42, "tasks": ["Slide the cup for holding liquids onto the coaster made of smooth wood with the arm."], "length": 178}
+{"episode_index": 43, "tasks": ["Use arm to place the blue rounded-bottom cup on the coaster with circular shape"], "length": 174}
+{"episode_index": 44, "tasks": ["Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster."], "length": 172}
+{"episode_index": 45, "tasks": ["Align the medium-sized plastic blue cup and set it down on the round coaster with light streaks"], "length": 173}
+{"episode_index": 46, "tasks": ["Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster."], "length": 170}
+{"episode_index": 47, "tasks": ["Make sure the cylindrical light blue cup ends up on the coaster made of smooth wood."], "length": 174}
+{"episode_index": 48, "tasks": ["Move the smooth blue drinking cup onto the light gray round grainy coaster with the arm"], "length": 171}
+{"episode_index": 49, "tasks": ["Position the smooth blue drinking cup on the round coaster with the arm."], "length": 169}
diff --git a/place_empty_cup/meta/episodes_stats.jsonl b/place_empty_cup/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e2a7019b579f48df78d248bc462ea0eaf074ab7
--- /dev/null
+++ b/place_empty_cup/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/place_empty_cup/meta/info.json b/place_empty_cup/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20bc8f496f21b3a9d09a2fe7d40490ddd9b355c
--- /dev/null
+++ b/place_empty_cup/meta/info.json
@@ -0,0 +1,170 @@
+{
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+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
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+                480,
+                640
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+                "height",
+                "width"
+            ],
+            "info": {
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+                "video.codec": "av1",
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+        "observation.images.cam_left_wrist": {
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+                640
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_empty_cup/meta/modality.json b/place_empty_cup/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/place_empty_cup/meta/modality.json
@@ -0,0 +1,62 @@
+{
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+            "end": 6,
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+        "right_gripper": {
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+            "end": 14,
+            "original_key": "action"
+        }
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+            "end": 7,
+            "original_key": "observation.state"
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+            "original_key": "observation.state"
+        },
+        "right_gripper": {
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+            "end": 14,
+            "original_key": "observation.state"
+        }
+    },
+    "video": {
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+        "cam_left_wrist": {
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+        },
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_empty_cup/meta/stats_gr00t.json b/place_empty_cup/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab340b72b14446a4de183aaa99046e7777ab549
--- /dev/null
+++ b/place_empty_cup/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
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\ No newline at end of file
diff --git a/place_empty_cup/meta/tasks.jsonl b/place_empty_cup/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb5b8434e6b455d635713078276bbe4c3ba7637e
--- /dev/null
+++ b/place_empty_cup/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Stick the cup with light blue color onto the coaster made of smooth wood carefully."}
+{"task_index": 1, "task": "Stick the rounded base blue cup onto the flat round wooden coaster carefully."}
+{"task_index": 2, "task": "Move the cup for holding liquids using the arm onto the light gray round grainy coaster."}
+{"task_index": 3, "task": "Lift the plastic cup for drinks up and drop it on the light gray round grainy coaster."}
+{"task_index": 4, "task": "Use the arm to put the medium blue cylindrical cup onto the grainy texture coaster."}
+{"task_index": 5, "task": "Pick the medium blue cylindrical cup up and drop it on the coaster with circular shape."}
+{"task_index": 6, "task": "Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm"}
+{"task_index": 7, "task": "Position the medium blue cylindrical cup carefully on the small coaster with grain texture"}
+{"task_index": 8, "task": "Slide the medium blue cylindrical cup onto the flat round wooden coaster with the arm."}
+{"task_index": 9, "task": "Grab the medium blue cylindrical cup and place it on the round coaster."}
+{"task_index": 10, "task": "Position the blue rounded-bottom cup above and drop it on the smooth round palm-sized coaster"}
+{"task_index": 11, "task": "Use an arm to place the cup for holding liquids on the coaster with circular shape"}
+{"task_index": 12, "task": "Make sure the cup for holding liquids ends up on the round coaster."}
+{"task_index": 13, "task": "Use the arm to position the smooth blue cup for liquids onto the round coaster."}
+{"task_index": 14, "task": "Use arm to place the cup for holding liquids on the round coaster"}
+{"task_index": 15, "task": "Use the arm to position the cylindrical light blue cup onto the coaster made of smooth wood."}
+{"task_index": 16, "task": "Place the medium-sized plastic blue cup on top of the smooth round palm-sized coaster"}
+{"task_index": 17, "task": "Make sure the cup for holding liquids ends up on the light gray round grainy coaster."}
+{"task_index": 18, "task": "Use the arm to slide the medium-sized plastic blue cup onto the flat round wooden coaster."}
+{"task_index": 19, "task": "Using the arm, drop the cylindrical light blue cup onto the grainy texture coaster."}
+{"task_index": 20, "task": "Move the smooth blue drinking cup to the small coaster with grain texture"}
+{"task_index": 21, "task": "Use an arm to place the cup with light blue color on the light gray round grainy coaster"}
+{"task_index": 22, "task": "Set the cup with light blue color onto the grainy texture coaster using the arm."}
+{"task_index": 23, "task": "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm"}
+{"task_index": 24, "task": "Grab the medium blue cylindrical cup and lower it onto the coaster made of smooth wood"}
+{"task_index": 25, "task": "Use an arm to drop the medium-sized plastic blue cup on the round coaster"}
+{"task_index": 26, "task": "Set the plastic cup for drinks onto the small coaster with grain texture using the arm."}
+{"task_index": 27, "task": "Position the cup with smooth plastic surface above and drop it on the flat surface gray wooden coaster"}
+{"task_index": 28, "task": "Use the arm to put the cup with light blue color onto the wooden coaster."}
+{"task_index": 29, "task": "Move the light blue plastic cup using the arm onto the small coaster with grain texture."}
+{"task_index": 30, "task": "Direct the rounded base blue cup to the flat surface gray wooden coaster and let it rest."}
+{"task_index": 31, "task": "Lift the cylindrical light blue cup up and drop it on the coaster made of smooth wood."}
+{"task_index": 32, "task": "Move the rounded base blue cup to the round coaster with light streaks and set it down."}
+{"task_index": 33, "task": "Move the light blue plastic cup to the grainy texture coaster and set it down."}
+{"task_index": 34, "task": "Slide the cylindrical light blue cup onto the light gray streaked wooden coaster"}
+{"task_index": 35, "task": "Grab the cup with smooth plastic surface and place it on the flat round wooden coaster."}
+{"task_index": 36, "task": "Position the cup with smooth plastic surface carefully on the coaster with circular shape"}
+{"task_index": 37, "task": "Using the arm, slide the cup with smooth plastic surface onto the light gray round grainy coaster."}
+{"task_index": 38, "task": "Use the arm to position the cup with light blue color onto the coaster made of smooth wood."}
+{"task_index": 39, "task": "Use an arm to place the smooth blue cup for liquids on the flat round wooden coaster"}
+{"task_index": 40, "task": "Slide the smooth blue cup for liquids gently onto the coaster made of smooth wood via the arm."}
+{"task_index": 41, "task": "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks"}
+{"task_index": 42, "task": "Slide the cup for holding liquids onto the coaster made of smooth wood with the arm."}
+{"task_index": 43, "task": "Use arm to place the blue rounded-bottom cup on the coaster with circular shape"}
+{"task_index": 44, "task": "Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster."}
+{"task_index": 45, "task": "Align the medium-sized plastic blue cup and set it down on the round coaster with light streaks"}
+{"task_index": 46, "task": "Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster."}
+{"task_index": 47, "task": "Make sure the cylindrical light blue cup ends up on the coaster made of smooth wood."}
+{"task_index": 48, "task": "Move the smooth blue drinking cup onto the light gray round grainy coaster with the arm"}
+{"task_index": 49, "task": "Position the smooth blue drinking cup on the round coaster with the arm."}
diff --git a/place_object_stand/meta/episodes.jsonl b/place_object_stand/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce9ec8bd00b477b5f692dbc9d671f1d13ae6254b
--- /dev/null
+++ b/place_object_stand/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Set the remote control with smooth body in position on the rectangular displaystand."], "length": 138}
+{"episode_index": 1, "tasks": ["Pick the white dome bell and place it carefully onto the displaystand with angled sides."], "length": 139}
+{"episode_index": 2, "tasks": ["Set the handheld gray remotecontrol on the hand-held black displaystand after moving it"], "length": 138}
+{"episode_index": 3, "tasks": ["Pick the curved black stapler and place it carefully onto the medium smooth black displaystand for displays."], "length": 138}
+{"episode_index": 4, "tasks": ["Take the compact tabletop bell and set it on the plastic displaystand"], "length": 142}
+{"episode_index": 5, "tasks": ["Pick up the mouse with two buttons and wheel with the left arm and set it on the black smooth stand"], "length": 137}
+{"episode_index": 6, "tasks": ["Grab and place the blue stapler for paper fastening directly on the rectangular plastic displaystand."], "length": 139}
+{"episode_index": 7, "tasks": ["Use the left arm to lift the small square rubikscube and set it on the metallic brown displaystand with cutout"], "length": 139}
+{"episode_index": 8, "tasks": ["Set the palm-sized plastic toycar on the lightweight black rectangular displaystand after moving it"], "length": 139}
+{"episode_index": 9, "tasks": ["Select the right arm, grab the mouse for cursor control, and move it to the rectangular displaystand"], "length": 137}
+{"episode_index": 10, "tasks": ["Use the left arm to grab the flat-topped bell and place on the black smooth stand."], "length": 139}
+{"episode_index": 11, "tasks": ["Lift the mouse with sleek design and position on the black displaystand for showcasing things"], "length": 138}
+{"episode_index": 12, "tasks": ["Grab the round bell and set it on the medium-sized rectangular displaystand"], "length": 139}
+{"episode_index": 13, "tasks": ["Use the right arm to position the dark gray mouse with smooth texture on the plastic matte displaystand."], "length": 139}
+{"episode_index": 14, "tasks": ["Set the ergonomic mouse on the displaystand with rectangular hollow base using the left arm"], "length": 139}
+{"episode_index": 15, "tasks": ["Place the toycar made of plastic material on the hand-held black displaystand."], "length": 138}
+{"episode_index": 16, "tasks": ["Pick the rubikscube with rotating faces and position it on the compact black displaystand frame"], "length": 139}
+{"episode_index": 17, "tasks": ["Pick the rectangular remotecontrol with multiple buttons and place it carefully onto the compact black displaystand frame."], "length": 136}
+{"episode_index": 18, "tasks": ["Place the gray mouse with smooth surface precisely on the black displaystand."], "length": 139}
+{"episode_index": 19, "tasks": ["Grab the blue stapler with silver staple tray with the left arm and place on the hollow black displaystand."], "length": 145}
+{"episode_index": 20, "tasks": ["Grab the bell with black flat base using the right arm and place it on the medium black plastic displaystand"], "length": 149}
+{"episode_index": 21, "tasks": ["Position the remotecontrol with yellow and blue buttons on the metal displaystand with the right arm"], "length": 138}
+{"episode_index": 22, "tasks": ["Grab and put the rubikscube plastic and smooth on the displaystand for holding items"], "length": 136}
+{"episode_index": 23, "tasks": ["Place the handheld blue and silver stapler precisely on the angled black displaystand."], "length": 139}
+{"episode_index": 24, "tasks": ["Pick the hand-sized rolling toycar with the right arm and place on the black smooth stand."], "length": 138}
+{"episode_index": 25, "tasks": ["Select the left arm, grab the black stapler with smooth finish, and move it to the rectangular displaystand"], "length": 146}
+{"episode_index": 26, "tasks": ["Select the left arm, grab the pink toycar, and move it to the plastic matte displaystand"], "length": 139}
+{"episode_index": 27, "tasks": ["Grab the white dome bell using the left arm and place it on the plastic displaystand"], "length": 137}
+{"episode_index": 28, "tasks": ["Place the small puzzle cube precisely on top of the displaystand with angled sides."], "length": 136}
+{"episode_index": 29, "tasks": ["Use the right arm to lift the gray mouse and set it on the angled black smooth displaystand"], "length": 134}
+{"episode_index": 30, "tasks": ["Lift the toycar with dark gray windows with the left arm and position on the plastic displaystand with hollow interior."], "length": 137}
+{"episode_index": 31, "tasks": ["Move the remotecontrol with raised buttons to the rectangular brown stand for items and release it"], "length": 140}
+{"episode_index": 32, "tasks": ["Place the bell with metallic top and plastic base precisely on top of the medium displaystand."], "length": 140}
+{"episode_index": 33, "tasks": ["Put the black stapler with shiny interior on the black stand for display purposes after picking it"], "length": 138}
+{"episode_index": 34, "tasks": ["Select the right arm, grab the small toycar for kids play, and move it to the displaystand with angled support"], "length": 139}
+{"episode_index": 35, "tasks": ["Grab and place the remotecontrol for electronics directly on the medium-sized displaystand with smooth finish."], "length": 141}
+{"episode_index": 36, "tasks": ["Pick the compact oval-shaped mouse and place it carefully onto the angled displaystand."], "length": 137}
+{"episode_index": 37, "tasks": ["Use the right arm to move the simple hand bell with black stand onto the smooth black hollow displaystand."], "length": 138}
+{"episode_index": 38, "tasks": ["Put the dark ergonomic mouse for computer navigation on the displaystand with slanted sides after picking it"], "length": 136}
+{"episode_index": 39, "tasks": ["Pick up the toycar featuring black and white wheels with the right arm and set it on the black displaystand for showcasing things"], "length": 147}
+{"episode_index": 40, "tasks": ["With the left arm, pick the toycar with smooth texture and position it on the black displaystand for showcasing things"], "length": 136}
+{"episode_index": 41, "tasks": ["Move the stapler for fastening papers to the hand-held black displaystand and release it"], "length": 137}
+{"episode_index": 42, "tasks": ["Grab and place the mouse with two buttons and wheel directly on the smooth dark metallic displaystand."], "length": 143}
+{"episode_index": 43, "tasks": ["Pick up the remote control for electronics and set it on the hollow black displaystand."], "length": 140}
+{"episode_index": 44, "tasks": ["Pick up the compact remotecontrol with the right arm and set it on the rectangular black stand frame"], "length": 137}
+{"episode_index": 45, "tasks": ["Use the left arm to lift the compact bell with round base and set on the compact angled black displaystand."], "length": 142}
+{"episode_index": 46, "tasks": ["Bring the metal bell with plastic parts to the sturdy black rectangular displaystand and set it in place."], "length": 136}
+{"episode_index": 47, "tasks": ["Use the left arm to position the kids' toycar in bright blue on the rectangular displaystand."], "length": 138}
+{"episode_index": 48, "tasks": ["Pick up the small desk bell for tapping and set it on the displaystand frame."], "length": 142}
+{"episode_index": 49, "tasks": ["Place the remotecontrol with tapered ends precisely on the matte black displaystand."], "length": 139}
diff --git a/place_object_stand/meta/episodes_stats.jsonl b/place_object_stand/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d8ec1c9e5e6db0d8c2947b3e305d98b2c92383a
--- /dev/null
+++ b/place_object_stand/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/place_object_stand/meta/info.json b/place_object_stand/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ddb730300a997fb93a84e71fb565bb42c5b7b4
--- /dev/null
+++ b/place_object_stand/meta/info.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/place_object_stand/meta/modality.json b/place_object_stand/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/place_object_stand/meta/modality.json
@@ -0,0 +1,62 @@
+{
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+            "end": 14,
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+            "end": 14,
+            "original_key": "observation.state"
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+    "annotation": {
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+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_object_stand/meta/stats_gr00t.json b/place_object_stand/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..6359d24c69d4e99dd82e6f2380fc847c6309c0db
--- /dev/null
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\ No newline at end of file
diff --git a/place_shoe/meta/info.json b/place_shoe/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..50302d9d075cfac352005cb405a616460c14dd6e
--- /dev/null
+++ b/place_shoe/meta/info.json
@@ -0,0 +1,170 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "aloha",
+    "total_episodes": 50,
+    "total_frames": 8982,
+    "total_tasks": 50,
+    "total_videos": 150,
+    "total_chunks": 1,
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+    "fps": 15,
+    "splits": {
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+    "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": {
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+                    "left_wrist_angle",
+                    "left_wrist_rotate",
+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
+                    "right_gripper"
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+        "action": {
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+                    "left_gripper",
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+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
+                    "right_wrist_rotate",
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+                640
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+                "height",
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+}
\ No newline at end of file
diff --git a/press_stapler/meta/episodes.jsonl b/press_stapler/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f399d65396a076a77a6fadf17880488c080e2047
--- /dev/null
+++ b/press_stapler/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Push down on the stapler with orange button to staple papers."], "length": 118}
+{"episode_index": 1, "tasks": ["Press the compact blue stapler to complete the task."], "length": 117}
+{"episode_index": 2, "tasks": ["Firmly press down on the stapler with orange top lever to staple."], "length": 123}
+{"episode_index": 3, "tasks": ["Use one arm the right arm to press the lightweight red stapler."], "length": 114}
+{"episode_index": 4, "tasks": ["Firmly push the handheld blue and silver stapler using the right arm to operate it."], "length": 130}
+{"episode_index": 5, "tasks": ["Firmly push down on the red stapler for binding papers."], "length": 126}
+{"episode_index": 6, "tasks": ["Use an arm to press the smooth plastic stapler"], "length": 117}
+{"episode_index": 7, "tasks": ["Push down forcefully on the stapler the blue stapler."], "length": 126}
+{"episode_index": 8, "tasks": ["Lower the desk stapler with red body using an arm"], "length": 126}
+{"episode_index": 9, "tasks": ["Use one arm the left arm to press the blue rectangular stapler with curves."], "length": 118}
+{"episode_index": 10, "tasks": ["Push down forcefully on the stapler the metal and plastic stapler."], "length": 117}
+{"episode_index": 11, "tasks": ["Press the plastic stapler with metallic interior downward using your arm the left arm."], "length": 118}
+{"episode_index": 12, "tasks": ["Press down on the stapler the small stapler firmly."], "length": 115}
+{"episode_index": 13, "tasks": ["Push the curved blue and silver stapler down completely"], "length": 124}
+{"episode_index": 14, "tasks": ["Use one arm to press the handheld stapler."], "length": 123}
+{"episode_index": 15, "tasks": ["Push down on the metallic stapler with blue cover firmly."], "length": 123}
+{"episode_index": 16, "tasks": ["Press down on the stapler the metallic stapler with red body firmly."], "length": 116}
+{"episode_index": 17, "tasks": ["Push the stapler with orange button down firmly."], "length": 117}
+{"episode_index": 18, "tasks": ["Press the manual stapler with black base until it works"], "length": 116}
+{"episode_index": 19, "tasks": ["Use an arm to press the plastic and metal stapler"], "length": 118}
+{"episode_index": 20, "tasks": ["Push down forcefully on the stapler the small office stapler."], "length": 130}
+{"episode_index": 21, "tasks": ["Press down on the stapler the blue stapler with black handle area firmly."], "length": 114}
+{"episode_index": 22, "tasks": ["Press the stapler the compact stapler using an arm the right arm."], "length": 115}
+{"episode_index": 23, "tasks": ["Use one arm the right arm to press the office stapler with plastic and metal parts."], "length": 128}
+{"episode_index": 24, "tasks": ["Push the stapler with silver inner plates down firmly."], "length": 115}
+{"episode_index": 25, "tasks": ["Push down on the stapler the small handheld stapler."], "length": 126}
+{"episode_index": 26, "tasks": ["Push the stapler the handheld red stapler to operate it."], "length": 115}
+{"episode_index": 27, "tasks": ["Use your the left arm to press the stapler the small stapler."], "length": 117}
+{"episode_index": 28, "tasks": ["Lower the right arm onto the stapler the white body stapler with accents."], "length": 119}
+{"episode_index": 29, "tasks": ["Press on the stapler with blue plastic handle to activate it."], "length": 121}
+{"episode_index": 30, "tasks": ["Push down on the stapler the black stapler with smooth finish."], "length": 117}
+{"episode_index": 31, "tasks": ["Apply pressure on the smooth plastic stapler until it works."], "length": 129}
+{"episode_index": 32, "tasks": ["Push the stapler the stapler for fastening papers to operate it."], "length": 121}
+{"episode_index": 33, "tasks": ["Lower the right arm onto the stapler the plastic stapler with metal on base."], "length": 113}
+{"episode_index": 34, "tasks": ["Use one arm the left arm to press the stapler with smooth blue finish."], "length": 115}
+{"episode_index": 35, "tasks": ["Press on the red plastic stapler with smooth top using the right arm."], "length": 116}
+{"episode_index": 36, "tasks": ["Apply pressure to the compact stapler with smooth surface with the right arm."], "length": 112}
+{"episode_index": 37, "tasks": ["Firmly push the small stapler using the right arm to operate it."], "length": 118}
+{"episode_index": 38, "tasks": ["Press the compact black stapler until it works"], "length": 121}
+{"episode_index": 39, "tasks": ["Press the stapler the plastic stapler with silver mechanism using an arm the right arm."], "length": 117}
+{"episode_index": 40, "tasks": ["Press the handheld stapler firmly to staple"], "length": 114}
+{"episode_index": 41, "tasks": ["Apply force to the handheld red stapler to staple."], "length": 125}
+{"episode_index": 42, "tasks": ["Place pressure on the stapler with black top section to staple."], "length": 116}
+{"episode_index": 43, "tasks": ["Use your the right arm to press the stapler the black stapler with smooth finish."], "length": 118}
+{"episode_index": 44, "tasks": ["Apply pressure on the black stapler with smooth finish until it works."], "length": 114}
+{"episode_index": 45, "tasks": ["Press on the stapler with curved blue top to activate it."], "length": 115}
+{"episode_index": 46, "tasks": ["Push down hard on the blue stapler with curved design with the right arm."], "length": 115}
+{"episode_index": 47, "tasks": ["Apply one arm the left arm to press the blue stapler with white accents firmly."], "length": 119}
+{"episode_index": 48, "tasks": ["Push the stapler with orange top lever down firmly."], "length": 122}
+{"episode_index": 49, "tasks": ["Firmly press down on the stapler with smooth blue finish to staple."], "length": 114}
diff --git a/press_stapler/meta/episodes_stats.jsonl b/press_stapler/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d8f442b39539894413093c2b8e83af3a650c4c8
--- /dev/null
+++ b/press_stapler/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/press_stapler/meta/info.json b/press_stapler/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..067a1bf579e581d23cfd01aa8639ab0c7c31ff6b
--- /dev/null
+++ b/press_stapler/meta/info.json
@@ -0,0 +1,170 @@
+{
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
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+                480,
+                640
+            ],
+            "names": [
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+                "width"
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+            "info": {
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+                "video.is_depth_map": false,
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+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
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+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
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+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "episode_index": {
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+        "index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/press_stapler/meta/modality.json b/press_stapler/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/press_stapler/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "action"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "action"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "observation.state"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "observation.state"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "observation.state"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "observation.state"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
+        },
+        "cam_left_wrist": {
+            "original_key": "observation.images.cam_left_wrist"
+        },
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/press_stapler/meta/stats_gr00t.json b/press_stapler/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e281ac801a08f44181d602763ae01c93b6eaab
--- /dev/null
+++ b/press_stapler/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
+{
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\ No newline at end of file
diff --git a/press_stapler/meta/tasks.jsonl b/press_stapler/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46c26f7a87b635c53bdbe0e9098af582c1652afa
--- /dev/null
+++ b/press_stapler/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Push down on the stapler with orange button to staple papers."}
+{"task_index": 1, "task": "Press the compact blue stapler to complete the task."}
+{"task_index": 2, "task": "Firmly press down on the stapler with orange top lever to staple."}
+{"task_index": 3, "task": "Use one arm the right arm to press the lightweight red stapler."}
+{"task_index": 4, "task": "Firmly push the handheld blue and silver stapler using the right arm to operate it."}
+{"task_index": 5, "task": "Firmly push down on the red stapler for binding papers."}
+{"task_index": 6, "task": "Use an arm to press the smooth plastic stapler"}
+{"task_index": 7, "task": "Push down forcefully on the stapler the blue stapler."}
+{"task_index": 8, "task": "Lower the desk stapler with red body using an arm"}
+{"task_index": 9, "task": "Use one arm the left arm to press the blue rectangular stapler with curves."}
+{"task_index": 10, "task": "Push down forcefully on the stapler the metal and plastic stapler."}
+{"task_index": 11, "task": "Press the plastic stapler with metallic interior downward using your arm the left arm."}
+{"task_index": 12, "task": "Press down on the stapler the small stapler firmly."}
+{"task_index": 13, "task": "Push the curved blue and silver stapler down completely"}
+{"task_index": 14, "task": "Use one arm to press the handheld stapler."}
+{"task_index": 15, "task": "Push down on the metallic stapler with blue cover firmly."}
+{"task_index": 16, "task": "Press down on the stapler the metallic stapler with red body firmly."}
+{"task_index": 17, "task": "Push the stapler with orange button down firmly."}
+{"task_index": 18, "task": "Press the manual stapler with black base until it works"}
+{"task_index": 19, "task": "Use an arm to press the plastic and metal stapler"}
+{"task_index": 20, "task": "Push down forcefully on the stapler the small office stapler."}
+{"task_index": 21, "task": "Press down on the stapler the blue stapler with black handle area firmly."}
+{"task_index": 22, "task": "Press the stapler the compact stapler using an arm the right arm."}
+{"task_index": 23, "task": "Use one arm the right arm to press the office stapler with plastic and metal parts."}
+{"task_index": 24, "task": "Push the stapler with silver inner plates down firmly."}
+{"task_index": 25, "task": "Push down on the stapler the small handheld stapler."}
+{"task_index": 26, "task": "Push the stapler the handheld red stapler to operate it."}
+{"task_index": 27, "task": "Use your the left arm to press the stapler the small stapler."}
+{"task_index": 28, "task": "Lower the right arm onto the stapler the white body stapler with accents."}
+{"task_index": 29, "task": "Press on the stapler with blue plastic handle to activate it."}
+{"task_index": 30, "task": "Push down on the stapler the black stapler with smooth finish."}
+{"task_index": 31, "task": "Apply pressure on the smooth plastic stapler until it works."}
+{"task_index": 32, "task": "Push the stapler the stapler for fastening papers to operate it."}
+{"task_index": 33, "task": "Lower the right arm onto the stapler the plastic stapler with metal on base."}
+{"task_index": 34, "task": "Use one arm the left arm to press the stapler with smooth blue finish."}
+{"task_index": 35, "task": "Press on the red plastic stapler with smooth top using the right arm."}
+{"task_index": 36, "task": "Apply pressure to the compact stapler with smooth surface with the right arm."}
+{"task_index": 37, "task": "Firmly push the small stapler using the right arm to operate it."}
+{"task_index": 38, "task": "Press the compact black stapler until it works"}
+{"task_index": 39, "task": "Press the stapler the plastic stapler with silver mechanism using an arm the right arm."}
+{"task_index": 40, "task": "Press the handheld stapler firmly to staple"}
+{"task_index": 41, "task": "Apply force to the handheld red stapler to staple."}
+{"task_index": 42, "task": "Place pressure on the stapler with black top section to staple."}
+{"task_index": 43, "task": "Use your the right arm to press the stapler the black stapler with smooth finish."}
+{"task_index": 44, "task": "Apply pressure on the black stapler with smooth finish until it works."}
+{"task_index": 45, "task": "Press on the stapler with curved blue top to activate it."}
+{"task_index": 46, "task": "Push down hard on the blue stapler with curved design with the right arm."}
+{"task_index": 47, "task": "Apply one arm the left arm to press the blue stapler with white accents firmly."}
+{"task_index": 48, "task": "Push the stapler with orange top lever down firmly."}
+{"task_index": 49, "task": "Firmly press down on the stapler with smooth blue finish to staple."}
diff --git a/put_bottles_dustbin/meta/episodes.jsonl b/put_bottles_dustbin/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc84f00f970f30955b737d84ebb81cbec9723a7b
--- /dev/null
+++ b/put_bottles_dustbin/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Grab the green-striped cap on yellow bottle, put it in the dustbin with white inner bag, follow by moving the blue-accented cylindrical bottle and the plastic bottle with red cap there too."], "length": 649}
+{"episode_index": 1, "tasks": ["Grab the green-striped cap on yellow bottle, the medium-sized water bottle, and the red-labeled soda bottle and put them sequentially into the black and white trash holder."], "length": 824}
+{"episode_index": 2, "tasks": ["Move the green-striped cap on yellow bottle to the medium-sized black plastic dustbin, then the clear bottle with blue sections, and finally the red and black beverage bottle."], "length": 658}
+{"episode_index": 3, "tasks": ["Transfer the bottle with green cap, the bottle with turquoise cap, and the red bottle into the plastic dustbin using your arms, one by one."], "length": 655}
+{"episode_index": 4, "tasks": ["Grab the yellow bottle body with tapered neck, place it in the medium black garbage container, then grab the blue-accented cylindrical bottle and the plastic bottle with red cap for the medium black garbage container."], "length": 524}
+{"episode_index": 5, "tasks": ["Grab the yellow bottle and the medium-sized water bottle, put them into the trash bin, and repeat for the red and black beverage bottle."], "length": 518}
+{"episode_index": 6, "tasks": ["Transfer the yellow bottle body with tapered neck, the transparent bottle, and the plastic bottle with red cap into the dustbin with white inner bag step by step."], "length": 661}
+{"episode_index": 7, "tasks": ["Place the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the red-labeled soda bottle, one at a time, into the plastic dustbin."], "length": 659}
+{"episode_index": 8, "tasks": ["Use arms to move the bottle made of smooth plastic, the water bottle with textured body, and the red bottle to the smooth black dustbin on the table's left."], "length": 691}
+{"episode_index": 9, "tasks": ["Grab the yellow bottle body with tapered neck and the water bottle with textured body, put them into the dustbin with lid and bag, and repeat for the red bottle."], "length": 519}
+{"episode_index": 10, "tasks": ["Take the smooth yellow bottle with ridged cap with arms, put it in the trash bin, repeat the same for the transparent bottle and the plastic bottle with red cap."], "length": 655}
+{"episode_index": 11, "tasks": ["Take the smooth yellow bottle with ridged cap with arms, put it in the black garbage bin, repeat the same for the smooth transparent plastic bottle and the red bottle."], "length": 660}
+{"episode_index": 12, "tasks": ["Begin with the medium yellow cylindrical bottle, move it to the black bin with white liner, then continue with the hand-sized bottle and the red-labeled soda bottle."], "length": 666}
+{"episode_index": 13, "tasks": ["Pick the bottle with green cap, the bottle with turquoise cap, and the plastic bottle with red cap from the table and place them inside the black bin with white liner."], "length": 661}
+{"episode_index": 14, "tasks": ["Grab the medium plastic bottle with tapered neck, put it in the medium-sized black plastic dustbin, follow by moving the bottle with turquoise cap and the red-labeled soda bottle there too."], "length": 656}
+{"episode_index": 15, "tasks": ["Drop the yellow bottle, the bottle with ribbed design, and the black and red bottle into the black and white trash holder, handling them one at a time."], "length": 512}
+{"episode_index": 16, "tasks": ["Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the red bottle, one at a time, into the black dustbin."], "length": 662}
+{"episode_index": 17, "tasks": ["Move the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the rounded bottle with a white neck to the medium black garbage container sequentially using the arms."], "length": 510}
+{"episode_index": 18, "tasks": ["Place the yellow liquid container with green top, the bottle for holding liquids, and the black soda bottle with white top into the black and white trash holder one after another."], "length": 656}
+{"episode_index": 19, "tasks": ["Place the yellow bottle body with tapered neck, the water bottle with textured body, and the black soda bottle with white top into the black and white trash holder one after another."], "length": 549}
+{"episode_index": 20, "tasks": ["Start with the medium yellow cylindrical bottle, grab it and drop it into the smooth black dustbin, repeat for the hand-sized bottle and the black and red bottle."], "length": 645}
+{"episode_index": 21, "tasks": ["Begin with the yellow bottle, move it to the black garbage bin, then continue with the bottle with narrow neck and the hand-sized drinking bottle."], "length": 651}
+{"episode_index": 22, "tasks": ["Take the bottle made of smooth plastic with arms, put it in the trash bin, repeat the same for the bottle with turquoise cap and the black soda bottle with white top."], "length": 782}
+{"episode_index": 23, "tasks": ["Use arms to pick the yellow bottle body with tapered neck, drop it in the black bin with white liner, repeat for the clear bottle with blue sections and the red bottle."], "length": 667}
+{"episode_index": 24, "tasks": ["Begin with the yellow bottle, move it to the trash bin, then continue with the clear bottle with blue sections and the smooth plastic bottle."], "length": 404}
+{"episode_index": 25, "tasks": ["Use the arms to move the yellow bottle body with tapered neck into the trash bin, then repeat for the water bottle with textured body and the red and black beverage bottle."], "length": 662}
+{"episode_index": 26, "tasks": ["Grab the yellow bottle with smooth texture, the cylindrical bottle, and the red-labeled soda bottle and put them sequentially into the smooth black dustbin."], "length": 520}
+{"episode_index": 27, "tasks": ["Using arms, pick up the bottle with green cap, the bottle with narrow neck, and the black bottle with red label, dropping each into the black and white trash holder."], "length": 649}
+{"episode_index": 28, "tasks": ["Move the smooth yellow bottle with ridged cap into the black dustbin, then do the same for the transparent bottle and the smooth plastic bottle."], "length": 664}
+{"episode_index": 29, "tasks": ["Using arms, grab the yellow bottle body with tapered neck and put it in the medium black garbage container, repeat for the smooth transparent plastic bottle and the red-labeled soda bottle."], "length": 653}
+{"episode_index": 30, "tasks": ["Take the yellow bottle body with tapered neck, the water bottle with textured body, and the rounded bottle with a white neck and place them into the plastic dustbin on the left."], "length": 520}
+{"episode_index": 31, "tasks": ["Grab the cylindrical yellow bottle for holding liquids, place it in the dustbin with lid and bag, then grab the transparent bottle and the drink bottle with slim neck for the dustbin with lid and bag."], "length": 665}
+{"episode_index": 32, "tasks": ["Pick the cylindrical yellow bottle for holding liquids and move it into the rectangular black trash holder, repeat for the smooth transparent plastic bottle and the smooth plastic bottle."], "length": 514}
+{"episode_index": 33, "tasks": ["Put the smooth yellow bottle with ridged cap into the medium black garbage container, followed by the smooth transparent plastic bottle and the bottle with curved body shape."], "length": 523}
+{"episode_index": 34, "tasks": ["Lift the bottle with green cap, the smooth transparent plastic bottle, and the rounded bottle with a white neck, dropping each into the dustbin with lid and bag sequentially."], "length": 670}
+{"episode_index": 35, "tasks": ["Move the yellow bottle body with tapered neck into the black dustbin, then do the same for the blue-accented cylindrical bottle and the red and black beverage bottle."], "length": 522}
+{"episode_index": 36, "tasks": ["Move the medium yellow cylindrical bottle to the medium black garbage container, then the medium-sized water bottle, and finally the black and red bottle."], "length": 666}
+{"episode_index": 37, "tasks": ["With arms, place the bottle made of smooth plastic, the bottle with ribbed design, and the red and black beverage bottle into the medium black garbage container step by step."], "length": 516}
+{"episode_index": 38, "tasks": ["Start with the bottle with green cap, grab it and drop it into the dustbin with white inner bag, repeat for the hand-sized bottle and the red-labeled soda bottle."], "length": 654}
+{"episode_index": 39, "tasks": ["Grab the cylindrical yellow bottle for holding liquids and the hand-sized bottle, put them into the smooth black dustbin, and repeat for the black bottle with red label."], "length": 663}
+{"episode_index": 40, "tasks": ["Pick the yellow liquid container with green top, the blue-accented cylindrical bottle, and the black bottle with red label one at a time and put them into the dustbin with lid and bag."], "length": 523}
+{"episode_index": 41, "tasks": ["Using arms, pick up the yellow bottle body with tapered neck, the bottle with turquoise cap, and the plastic bottle with red cap, dropping each into the plastic dustbin."], "length": 664}
+{"episode_index": 42, "tasks": ["Using arms, grab the medium yellow cylindrical bottle and place it in the smooth black dustbin, do the same for the smooth transparent plastic bottle and the red-labeled soda bottle."], "length": 657}
+{"episode_index": 43, "tasks": ["Using arms, grab the smooth yellow bottle with ridged cap and put it in the black garbage bin, repeat for the smooth transparent plastic bottle and the hand-sized drinking bottle."], "length": 666}
+{"episode_index": 44, "tasks": ["Take the bottle made of smooth plastic, the clear bottle with blue sections, and the plastic bottle with red cap and place them into the dustbin with lid and bag on the left."], "length": 652}
+{"episode_index": 45, "tasks": ["Grab the bottle with green cap, the transparent bottle, and the red bottle sequentially, placing each into the rectangular black trash holder."], "length": 666}
+{"episode_index": 46, "tasks": ["Move the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the rounded bottle with a white neck into the dustbin with white inner bag one by one."], "length": 654}
+{"episode_index": 47, "tasks": ["Carry the cylindrical yellow bottle for holding liquids first, drop it into the medium black garbage container, repeat with the bottle with narrow neck and the hand-sized drinking bottle."], "length": 653}
+{"episode_index": 48, "tasks": ["Lift the bottle made of smooth plastic, the bottle with ribbed design, and the red bottle, dropping each into the black garbage bin sequentially."], "length": 657}
+{"episode_index": 49, "tasks": ["Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the black bottle with red label in the plastic dustbin using the arms."], "length": 684}
diff --git a/put_bottles_dustbin/meta/episodes_stats.jsonl b/put_bottles_dustbin/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70abbca48bd3d3103c46f71b1dab403f4c0999c4
--- /dev/null
+++ b/put_bottles_dustbin/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/put_bottles_dustbin/meta/info.json b/put_bottles_dustbin/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd30e9f558598cf8bc1d60cde975abc6f92c78
--- /dev/null
+++ b/put_bottles_dustbin/meta/info.json
@@ -0,0 +1,170 @@
+{
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+    "robot_type": "aloha",
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+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                    "left_gripper",
+                    "right_waist",
+                    "right_shoulder",
+                    "right_elbow",
+                    "right_forearm_roll",
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+                    "right_wrist_rotate",
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+                    "right_elbow",
+                    "right_forearm_roll",
+                    "right_wrist_angle",
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+                480,
+                640
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+                "height",
+                "width"
+            ],
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+                "video.channels": 3,
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+        },
+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/meta/modality.json b/put_bottles_dustbin/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/put_bottles_dustbin/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
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+            "end": 7,
+            "original_key": "action"
+        },
+        "right_joints": {
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+            "end": 13,
+            "original_key": "action"
+        },
+        "right_gripper": {
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+            "end": 14,
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+        }
+    },
+    "state": {
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+            "end": 6,
+            "original_key": "observation.state"
+        },
+        "left_gripper": {
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+            "end": 7,
+            "original_key": "observation.state"
+        },
+        "right_joints": {
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+            "end": 13,
+            "original_key": "observation.state"
+        },
+        "right_gripper": {
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+            "end": 14,
+            "original_key": "observation.state"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
+        },
+        "cam_left_wrist": {
+            "original_key": "observation.images.cam_left_wrist"
+        },
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/meta/stats_gr00t.json b/put_bottles_dustbin/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5447f3dd1c8df4dd7a7549fa143d272b6460bf
--- /dev/null
+++ b/put_bottles_dustbin/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
+{
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\ No newline at end of file
diff --git a/put_bottles_dustbin/meta/tasks.jsonl b/put_bottles_dustbin/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7916cf59d4299b0657f6eb61e7a66d268b9f026
--- /dev/null
+++ b/put_bottles_dustbin/meta/tasks.jsonl
@@ -0,0 +1,50 @@
+{"task_index": 0, "task": "Grab the green-striped cap on yellow bottle, put it in the dustbin with white inner bag, follow by moving the blue-accented cylindrical bottle and the plastic bottle with red cap there too."}
+{"task_index": 1, "task": "Grab the green-striped cap on yellow bottle, the medium-sized water bottle, and the red-labeled soda bottle and put them sequentially into the black and white trash holder."}
+{"task_index": 2, "task": "Move the green-striped cap on yellow bottle to the medium-sized black plastic dustbin, then the clear bottle with blue sections, and finally the red and black beverage bottle."}
+{"task_index": 3, "task": "Transfer the bottle with green cap, the bottle with turquoise cap, and the red bottle into the plastic dustbin using your arms, one by one."}
+{"task_index": 4, "task": "Grab the yellow bottle body with tapered neck, place it in the medium black garbage container, then grab the blue-accented cylindrical bottle and the plastic bottle with red cap for the medium black garbage container."}
+{"task_index": 5, "task": "Grab the yellow bottle and the medium-sized water bottle, put them into the trash bin, and repeat for the red and black beverage bottle."}
+{"task_index": 6, "task": "Transfer the yellow bottle body with tapered neck, the transparent bottle, and the plastic bottle with red cap into the dustbin with white inner bag step by step."}
+{"task_index": 7, "task": "Place the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the red-labeled soda bottle, one at a time, into the plastic dustbin."}
+{"task_index": 8, "task": "Use arms to move the bottle made of smooth plastic, the water bottle with textured body, and the red bottle to the smooth black dustbin on the table's left."}
+{"task_index": 9, "task": "Grab the yellow bottle body with tapered neck and the water bottle with textured body, put them into the dustbin with lid and bag, and repeat for the red bottle."}
+{"task_index": 10, "task": "Take the smooth yellow bottle with ridged cap with arms, put it in the trash bin, repeat the same for the transparent bottle and the plastic bottle with red cap."}
+{"task_index": 11, "task": "Take the smooth yellow bottle with ridged cap with arms, put it in the black garbage bin, repeat the same for the smooth transparent plastic bottle and the red bottle."}
+{"task_index": 12, "task": "Begin with the medium yellow cylindrical bottle, move it to the black bin with white liner, then continue with the hand-sized bottle and the red-labeled soda bottle."}
+{"task_index": 13, "task": "Pick the bottle with green cap, the bottle with turquoise cap, and the plastic bottle with red cap from the table and place them inside the black bin with white liner."}
+{"task_index": 14, "task": "Grab the medium plastic bottle with tapered neck, put it in the medium-sized black plastic dustbin, follow by moving the bottle with turquoise cap and the red-labeled soda bottle there too."}
+{"task_index": 15, "task": "Drop the yellow bottle, the bottle with ribbed design, and the black and red bottle into the black and white trash holder, handling them one at a time."}
+{"task_index": 16, "task": "Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the red bottle, one at a time, into the black dustbin."}
+{"task_index": 17, "task": "Move the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the rounded bottle with a white neck to the medium black garbage container sequentially using the arms."}
+{"task_index": 18, "task": "Place the yellow liquid container with green top, the bottle for holding liquids, and the black soda bottle with white top into the black and white trash holder one after another."}
+{"task_index": 19, "task": "Place the yellow bottle body with tapered neck, the water bottle with textured body, and the black soda bottle with white top into the black and white trash holder one after another."}
+{"task_index": 20, "task": "Start with the medium yellow cylindrical bottle, grab it and drop it into the smooth black dustbin, repeat for the hand-sized bottle and the black and red bottle."}
+{"task_index": 21, "task": "Begin with the yellow bottle, move it to the black garbage bin, then continue with the bottle with narrow neck and the hand-sized drinking bottle."}
+{"task_index": 22, "task": "Take the bottle made of smooth plastic with arms, put it in the trash bin, repeat the same for the bottle with turquoise cap and the black soda bottle with white top."}
+{"task_index": 23, "task": "Use arms to pick the yellow bottle body with tapered neck, drop it in the black bin with white liner, repeat for the clear bottle with blue sections and the red bottle."}
+{"task_index": 24, "task": "Begin with the yellow bottle, move it to the trash bin, then continue with the clear bottle with blue sections and the smooth plastic bottle."}
+{"task_index": 25, "task": "Use the arms to move the yellow bottle body with tapered neck into the trash bin, then repeat for the water bottle with textured body and the red and black beverage bottle."}
+{"task_index": 26, "task": "Grab the yellow bottle with smooth texture, the cylindrical bottle, and the red-labeled soda bottle and put them sequentially into the smooth black dustbin."}
+{"task_index": 27, "task": "Using arms, pick up the bottle with green cap, the bottle with narrow neck, and the black bottle with red label, dropping each into the black and white trash holder."}
+{"task_index": 28, "task": "Move the smooth yellow bottle with ridged cap into the black dustbin, then do the same for the transparent bottle and the smooth plastic bottle."}
+{"task_index": 29, "task": "Using arms, grab the yellow bottle body with tapered neck and put it in the medium black garbage container, repeat for the smooth transparent plastic bottle and the red-labeled soda bottle."}
+{"task_index": 30, "task": "Take the yellow bottle body with tapered neck, the water bottle with textured body, and the rounded bottle with a white neck and place them into the plastic dustbin on the left."}
+{"task_index": 31, "task": "Grab the cylindrical yellow bottle for holding liquids, place it in the dustbin with lid and bag, then grab the transparent bottle and the drink bottle with slim neck for the dustbin with lid and bag."}
+{"task_index": 32, "task": "Pick the cylindrical yellow bottle for holding liquids and move it into the rectangular black trash holder, repeat for the smooth transparent plastic bottle and the smooth plastic bottle."}
+{"task_index": 33, "task": "Put the smooth yellow bottle with ridged cap into the medium black garbage container, followed by the smooth transparent plastic bottle and the bottle with curved body shape."}
+{"task_index": 34, "task": "Lift the bottle with green cap, the smooth transparent plastic bottle, and the rounded bottle with a white neck, dropping each into the dustbin with lid and bag sequentially."}
+{"task_index": 35, "task": "Move the yellow bottle body with tapered neck into the black dustbin, then do the same for the blue-accented cylindrical bottle and the red and black beverage bottle."}
+{"task_index": 36, "task": "Move the medium yellow cylindrical bottle to the medium black garbage container, then the medium-sized water bottle, and finally the black and red bottle."}
+{"task_index": 37, "task": "With arms, place the bottle made of smooth plastic, the bottle with ribbed design, and the red and black beverage bottle into the medium black garbage container step by step."}
+{"task_index": 38, "task": "Start with the bottle with green cap, grab it and drop it into the dustbin with white inner bag, repeat for the hand-sized bottle and the red-labeled soda bottle."}
+{"task_index": 39, "task": "Grab the cylindrical yellow bottle for holding liquids and the hand-sized bottle, put them into the smooth black dustbin, and repeat for the black bottle with red label."}
+{"task_index": 40, "task": "Pick the yellow liquid container with green top, the blue-accented cylindrical bottle, and the black bottle with red label one at a time and put them into the dustbin with lid and bag."}
+{"task_index": 41, "task": "Using arms, pick up the yellow bottle body with tapered neck, the bottle with turquoise cap, and the plastic bottle with red cap, dropping each into the plastic dustbin."}
+{"task_index": 42, "task": "Using arms, grab the medium yellow cylindrical bottle and place it in the smooth black dustbin, do the same for the smooth transparent plastic bottle and the red-labeled soda bottle."}
+{"task_index": 43, "task": "Using arms, grab the smooth yellow bottle with ridged cap and put it in the black garbage bin, repeat for the smooth transparent plastic bottle and the hand-sized drinking bottle."}
+{"task_index": 44, "task": "Take the bottle made of smooth plastic, the clear bottle with blue sections, and the plastic bottle with red cap and place them into the dustbin with lid and bag on the left."}
+{"task_index": 45, "task": "Grab the bottle with green cap, the transparent bottle, and the red bottle sequentially, placing each into the rectangular black trash holder."}
+{"task_index": 46, "task": "Move the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the rounded bottle with a white neck into the dustbin with white inner bag one by one."}
+{"task_index": 47, "task": "Carry the cylindrical yellow bottle for holding liquids first, drop it into the medium black garbage container, repeat with the bottle with narrow neck and the hand-sized drinking bottle."}
+{"task_index": 48, "task": "Lift the bottle made of smooth plastic, the bottle with ribbed design, and the red bottle, dropping each into the black garbage bin sequentially."}
+{"task_index": 49, "task": "Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the black bottle with red label in the plastic dustbin using the arms."}
diff --git a/stack_blocks_three/meta/episodes.jsonl b/stack_blocks_three/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d82b68627bdc1c4fc8cf02df3d560ede4a758426
--- /dev/null
+++ b/stack_blocks_three/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block."], "length": 472}
+{"episode_index": 1, "tasks": ["Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block."], "length": 469}
+{"episode_index": 2, "tasks": ["Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block."], "length": 465}
+{"episode_index": 3, "tasks": ["Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."], "length": 475}
+{"episode_index": 4, "tasks": ["Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block."], "length": 473}
+{"episode_index": 5, "tasks": ["Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them."], "length": 453}
+{"episode_index": 6, "tasks": ["Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block."], "length": 467}
+{"episode_index": 7, "tasks": ["Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block."], "length": 489}
+{"episode_index": 8, "tasks": ["Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block."], "length": 492}
+{"episode_index": 9, "tasks": ["With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block."], "length": 459}
+{"episode_index": 10, "tasks": ["Adjust red block, green block, blue block to the center and use the left arm, the right arm, the right arm to stack blue block on green block, green block on red block."], "length": 484}
+{"episode_index": 11, "tasks": ["With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block."], "length": 472}
+{"episode_index": 12, "tasks": ["Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the right arm, stacking blue block on green block and green block on red block."], "length": 471}
+{"episode_index": 13, "tasks": ["Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block."], "length": 480}
+{"episode_index": 14, "tasks": ["With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block."], "length": 458}
+{"episode_index": 15, "tasks": ["Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block."], "length": 462}
+{"episode_index": 16, "tasks": ["With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block."], "length": 482}
+{"episode_index": 17, "tasks": ["Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block."], "length": 460}
+{"episode_index": 18, "tasks": ["Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block."], "length": 489}
+{"episode_index": 19, "tasks": ["Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block."], "length": 473}
+{"episode_index": 20, "tasks": ["With the right arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block."], "length": 474}
+{"episode_index": 21, "tasks": ["Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block."], "length": 480}
+{"episode_index": 22, "tasks": ["Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top."], "length": 461}
+{"episode_index": 23, "tasks": ["Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block."], "length": 471}
+{"episode_index": 24, "tasks": ["Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block."], "length": 482}
+{"episode_index": 25, "tasks": ["Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm."], "length": 466}
+{"episode_index": 26, "tasks": ["Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block."], "length": 477}
+{"episode_index": 27, "tasks": ["Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block."], "length": 481}
+{"episode_index": 28, "tasks": ["Bring red block, green block, and blue block to the center using the right arm, the left arm, and the right arm. Stack green block on red block."], "length": 472}
+{"episode_index": 29, "tasks": ["Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block."], "length": 493}
+{"episode_index": 30, "tasks": ["With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block."], "length": 461}
+{"episode_index": 31, "tasks": ["Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block."], "length": 487}
+{"episode_index": 32, "tasks": ["Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block."], "length": 478}
+{"episode_index": 33, "tasks": ["With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block."], "length": 453}
+{"episode_index": 34, "tasks": ["Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block."], "length": 479}
+{"episode_index": 35, "tasks": ["With the left arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block."], "length": 460}
+{"episode_index": 36, "tasks": ["Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block."], "length": 466}
+{"episode_index": 37, "tasks": ["Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block."], "length": 481}
+{"episode_index": 38, "tasks": ["Shift red block, green block, and blue block to the center using the left arm, the left arm, the right arm, then pile blue block on green block, green block on red block."], "length": 470}
+{"episode_index": 39, "tasks": ["Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block."], "length": 465}
+{"episode_index": 40, "tasks": ["With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block."], "length": 462}
+{"episode_index": 41, "tasks": ["Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block."], "length": 491}
+{"episode_index": 42, "tasks": ["Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top."], "length": 478}
+{"episode_index": 43, "tasks": ["Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block."], "length": 469}
+{"episode_index": 44, "tasks": ["Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm."], "length": 461}
+{"episode_index": 45, "tasks": ["Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top."], "length": 459}
+{"episode_index": 46, "tasks": ["Grab red block, green block, and blue block using the right arm, the left arm, the right arm, move them to the center, then stack them."], "length": 484}
+{"episode_index": 47, "tasks": ["Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block."], "length": 456}
+{"episode_index": 48, "tasks": ["Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."], "length": 485}
+{"episode_index": 49, "tasks": ["Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block."], "length": 472}
diff --git a/stack_blocks_three/meta/episodes_stats.jsonl b/stack_blocks_three/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4c6dc23376507ecd3972001e1f30f904043ef62
--- /dev/null
+++ b/stack_blocks_three/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/stack_blocks_three/meta/info.json b/stack_blocks_three/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e08adbb64aa4070a7c0db87b69e322d715ef130
--- /dev/null
+++ b/stack_blocks_three/meta/info.json
@@ -0,0 +1,170 @@
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+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/stack_blocks_three/meta/modality.json b/stack_blocks_three/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..9071f047b467536460cf18fb15d375fbdabeb722
--- /dev/null
+++ b/stack_blocks_three/meta/modality.json
@@ -0,0 +1,62 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "action"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "action"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "action"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "observation.state"
+        },
+        "left_gripper": {
+            "start": 6,
+            "end": 7,
+            "original_key": "observation.state"
+        },
+        "right_joints": {
+            "start": 7,
+            "end": 13,
+            "original_key": "observation.state"
+        },
+        "right_gripper": {
+            "start": 13,
+            "end": 14,
+            "original_key": "observation.state"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "observation.images.cam_high"
+        },
+        "cam_left_wrist": {
+            "original_key": "observation.images.cam_left_wrist"
+        },
+        "cam_right_wrist": {
+            "original_key": "observation.images.cam_right_wrist"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/stack_blocks_three/meta/stats_gr00t.json b/stack_blocks_three/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..47360a3efa7b8e90321b3d87375cd501e7bbaecd
--- /dev/null
+++ b/stack_blocks_three/meta/stats_gr00t.json
@@ -0,0 +1,298 @@
+{
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+}
\ No newline at end of file
diff --git a/stack_blocks_three/meta/tasks.jsonl b/stack_blocks_three/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce56a5d6fada6921fb5655c9e61f1789882de1ba
--- /dev/null
+++ b/stack_blocks_three/meta/tasks.jsonl
@@ -0,0 +1,40 @@
+{"task_index": 0, "task": "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block."}
+{"task_index": 1, "task": "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block."}
+{"task_index": 2, "task": "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block."}
+{"task_index": 3, "task": "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."}
+{"task_index": 4, "task": "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block."}
+{"task_index": 5, "task": "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them."}
+{"task_index": 6, "task": "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block."}
+{"task_index": 7, "task": "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block."}
+{"task_index": 8, "task": "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block."}
+{"task_index": 9, "task": "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the right arm to stack blue block on green block, green block on red block."}
+{"task_index": 10, "task": "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block."}
+{"task_index": 11, "task": "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the right arm, stacking blue block on green block and green block on red block."}
+{"task_index": 12, "task": "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block."}
+{"task_index": 13, "task": "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block."}
+{"task_index": 14, "task": "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block."}
+{"task_index": 15, "task": "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block."}
+{"task_index": 16, "task": "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block."}
+{"task_index": 17, "task": "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block."}
+{"task_index": 18, "task": "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block."}
+{"task_index": 19, "task": "With the right arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block."}
+{"task_index": 20, "task": "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top."}
+{"task_index": 21, "task": "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block."}
+{"task_index": 22, "task": "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block."}
+{"task_index": 23, "task": "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm."}
+{"task_index": 24, "task": "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block."}
+{"task_index": 25, "task": "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block."}
+{"task_index": 26, "task": "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the right arm. Stack green block on red block."}
+{"task_index": 27, "task": "With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block."}
+{"task_index": 28, "task": "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block."}
+{"task_index": 29, "task": "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block."}
+{"task_index": 30, "task": "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block."}
+{"task_index": 31, "task": "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block."}
+{"task_index": 32, "task": "With the left arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block."}
+{"task_index": 33, "task": "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block."}
+{"task_index": 34, "task": "Shift red block, green block, and blue block to the center using the left arm, the left arm, the right arm, then pile blue block on green block, green block on red block."}
+{"task_index": 35, "task": "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block."}
+{"task_index": 36, "task": "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top."}
+{"task_index": 37, "task": "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top."}
+{"task_index": 38, "task": "Grab red block, green block, and blue block using the right arm, the left arm, the right arm, move them to the center, then stack them."}
+{"task_index": 39, "task": "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block."}