diff --git a/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/episodes.jsonl b/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c51f85df815fd4de300433fbeaba757e3a645b20
--- /dev/null
+++ b/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/episodes.jsonl
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diff --git a/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/episodes_stats.jsonl b/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea2d5c92faf22e9209a94784d2bc1a5359c83397
--- /dev/null
+++ b/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/episodes_stats.jsonl
@@ -0,0 +1,272 @@
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diff --git a/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/tasks.jsonl b/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bfeaff8d39830a15274fc72feb390855e95d6fea
--- /dev/null
+++ b/DUAL_ARM_AGX/agilex_1_open_drawer_and_place_button/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "slide open drawer and place yellow button on it"}
diff --git a/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/episodes.jsonl b/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..44cf143607a9e79a0a9881cba483b9873fcb3fc2
--- /dev/null
+++ b/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/episodes.jsonl
@@ -0,0 +1,158 @@
+{"episode_index": 0, "tasks": ["put the blue bowl in the middle of the table and stack the green bowl on the blue bowl."], "length": 334}
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+{"episode_index": 3, "tasks": ["put the blue bowl in the middle of the table and stack the green bowl on the blue bowl."], "length": 301}
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diff --git a/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/episodes_stats.jsonl b/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..288ee26cb73b81761b6fe63a2c082e0931dbefa1
--- /dev/null
+++ b/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/episodes_stats.jsonl
@@ -0,0 +1,158 @@
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diff --git a/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/tasks.jsonl b/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63fb7e8c3e6ec6dd750beffb1974f7e5f789981c
--- /dev/null
+++ b/DUAL_ARM_FRANKA/franka_dr3_stack_the_bowl/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "put the blue bowl in the middle of the table and stack the green bowl on the blue bowl."}
diff --git a/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/episodes.jsonl b/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5543d0c04785566c8e59564a97a1e36d8a729e85
--- /dev/null
+++ b/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/episodes.jsonl
@@ -0,0 +1,291 @@
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diff --git a/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/episodes_stats.jsonl b/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..371b7ee8550acbf6e5958e70aa02d72ce5849235
--- /dev/null
+++ b/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/episodes_stats.jsonl
@@ -0,0 +1,291 @@
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diff --git a/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/tasks.jsonl b/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..411ec4c1cf361c370bad8119a3c41ad69bbd4751
--- /dev/null
+++ b/DUAL_ARM_TIEN_KUNG2/tienkung_pro2_dualArm-gripper-1cameras_2_pick_and_press_green_button/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "The left arm picks up the green button and places it in the middle, and the right arm presses the green button."}
diff --git a/DUAL_ARM_UR/ur_1_find_out_packaging_tape_into_the_other_basket_250512/meta/episodes.jsonl b/DUAL_ARM_UR/ur_1_find_out_packaging_tape_into_the_other_basket_250512/meta/episodes.jsonl
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index 0000000000000000000000000000000000000000..9616b221a859d3e7cebfeaf24baa63128b8fe9f8
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+++ b/DUAL_ARM_UR/ur_1_find_out_packaging_tape_into_the_other_basket_250512/meta/episodes.jsonl
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diff --git a/DUAL_ARM_UR/ur_1_find_out_packaging_tape_into_the_other_basket_250512/meta/tasks.jsonl b/DUAL_ARM_UR/ur_1_find_out_packaging_tape_into_the_other_basket_250512/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..712d60453ded338051b8b36ade5001d9b56ff854
--- /dev/null
+++ b/DUAL_ARM_UR/ur_1_find_out_packaging_tape_into_the_other_basket_250512/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "find out packaging tape into the other basket"}
diff --git a/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/episodes.jsonl b/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90e463fe660c91a3e1c34897448ecdf176e5a8a5
--- /dev/null
+++ b/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/episodes.jsonl
@@ -0,0 +1,37 @@
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diff --git a/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/episodes_stats.jsonl b/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7291907b114cd9fa9ae95917756c357ef21720f
--- /dev/null
+++ b/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/episodes_stats.jsonl
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diff --git a/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/tasks.jsonl b/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..712d60453ded338051b8b36ade5001d9b56ff854
--- /dev/null
+++ b/SINGLE_ARM_UR/ur_single_4cam_1_find_out_packaging_tape_into_the_other_basket/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "find out packaging tape into the other basket"}