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new file mode 100644
index 0000000000000000000000000000000000000000..5a169013d1dd3f7cd4a8e34645bdf5b3fa446369
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diff --git a/cloth3/train1000_yawonly/meta/episodes_stats.jsonl b/cloth3/train1000_yawonly/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1953729554e43357dbd77dc26f60e092bc75d08e
--- /dev/null
+++ b/cloth3/train1000_yawonly/meta/episodes_stats.jsonl
@@ -0,0 +1,1000 @@
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diff --git a/cloth3/train1000_yawonly/meta/info.json b/cloth3/train1000_yawonly/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d865dad3c282e1dc4b45ddfb24e115ca1e163e3d
--- /dev/null
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diff --git a/cloth3/train1000_yawonly/meta/norm_stats_pi0_lora_fold_cloth_max10000.json b/cloth3/train1000_yawonly/meta/norm_stats_pi0_lora_fold_cloth_max10000.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f1f643b13b838e3c798821497226a0256fcdec
--- /dev/null
+++ b/cloth3/train1000_yawonly/meta/norm_stats_pi0_lora_fold_cloth_max10000.json
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diff --git a/cloth3/train1000_yawonly/meta/norm_stats_pi0_lora_fold_cloth_max200000.json b/cloth3/train1000_yawonly/meta/norm_stats_pi0_lora_fold_cloth_max200000.json
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diff --git a/cloth3/train1000_yawonly/meta/subset_manifest.json b/cloth3/train1000_yawonly/meta/subset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c07bd74ec809ad925185071ca680df8c4eff72
--- /dev/null
+++ b/cloth3/train1000_yawonly/meta/subset_manifest.json
@@ -0,0 +1,9011 @@
+{
+  "source": "output_replay_latest_by_gid",
+  "case": "cloth3",
+  "mode": "yawonly",
+  "seed": 42,
+  "train_size": 1000,
+  "test_size": 200,
+  "latest_success_summary_tag": "20260524-202734",
+  "manifest": [
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000001_yawonly_20260520-101333_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0001_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000003_yawonly_20260520-101354_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0003_stabilized30_initpose/lerobot_dataset",
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+    },
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000004_yawonly_20260520-101433_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0004_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000005_yawonly_20260520-101532_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0005_stabilized30_initpose/lerobot_dataset",
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000009_yawonly_20260520-102015_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0009_stabilized30_initpose/lerobot_dataset",
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000016_yawonly_20260520-101145_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0016_stabilized30_initpose/lerobot_dataset",
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/cloth3_gid000022_yawonly_20260520-101742_cloth3_assets_aggrL3_norelease_idx65_formal4500_20260519-034356_shard00_sample_0022_stabilized30_initpose/lerobot_dataset",
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diff --git a/sloth/test200/txy_state_paths.txt b/sloth/test200/txy_state_paths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b45b6de6aa3cb2e110c0258c7e1173f44918e1a
--- /dev/null
+++ b/sloth/test200/txy_state_paths.txt
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diff --git a/sloth/train1000_gridrigid/meta/episodes_stats.jsonl b/sloth/train1000_gridrigid/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca5c82d9018e4946f2702c85354076d8accb8228
--- /dev/null
+++ b/sloth/train1000_gridrigid/meta/episodes_stats.jsonl
@@ -0,0 +1,1000 @@
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diff --git a/sloth/train1000_gridrigid/meta/info.json b/sloth/train1000_gridrigid/meta/info.json
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index 0000000000000000000000000000000000000000..d865dad3c282e1dc4b45ddfb24e115ca1e163e3d
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diff --git a/sloth/train1000_gridrigid/meta/norm_stats_pi0_lora_pack_sloth_max10000.json b/sloth/train1000_gridrigid/meta/norm_stats_pi0_lora_pack_sloth_max10000.json
new file mode 100644
index 0000000000000000000000000000000000000000..984bbfd3324e5820880957ca5b5001bdda5509b3
--- /dev/null
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diff --git a/sloth/train1000_gridrigid/meta/selected_samples.txt b/sloth/train1000_gridrigid/meta/selected_samples.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f196e64f49b3b1437402368cd4b0d7f3d461524
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diff --git a/sloth/train1000_gridrigid/meta/subset_manifest.json b/sloth/train1000_gridrigid/meta/subset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a229cfcb4b7915be9d5d1e886213d32053d00c72
--- /dev/null
+++ b/sloth/train1000_gridrigid/meta/subset_manifest.json
@@ -0,0 +1,14009 @@
+{
+  "source": "gridrigid_output_replay_success",
+  "case": "sloth",
+  "mode": "yawonly",
+  "task_name": "pack_sloth",
+  "note": "relative_action_stats_Te50.pt and pi0 norm_stats are intentionally not computed in this pass.",
+  "episodes": [
+    {
+      "episode_index": 0,
+      "global_id": 0,
+      "case": "sloth",
+      "mode": "yawonly",
+      "source_lerobot_dataset": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000000_yawonly_gridrigid_sloth_gid000000_grid_rigid/lerobot_dataset",
+      "source_replay_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000000_yawonly_gridrigid_sloth_gid000000_grid_rigid",
+      "source_episode_index": 0,
+      "stable_state_path": "/model/linzili/pgnd/real2sim-eval/log/dataset/lease_queue_grid/gridrigid_sloth_gid000000_states/gridrigid_sloth_gid000000_grid_rigid/episode_0000/final_state_stable/state.npy",
+      "success_detail": {
+        "success_file": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000000_yawonly_gridrigid_sloth_gid000000_grid_rigid/success_lastframe_packed.txt",
+        "value": "1"
+      }
+    },
+    {
+      "episode_index": 1,
+      "global_id": 2,
+      "case": "sloth",
+      "mode": "yawonly",
+      "source_lerobot_dataset": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000002_yawonly_gridrigid_sloth_gid000002_grid_rigid/lerobot_dataset",
+      "source_replay_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000002_yawonly_gridrigid_sloth_gid000002_grid_rigid",
+      "source_episode_index": 0,
+      "stable_state_path": "/model/linzili/pgnd/real2sim-eval/log/dataset/lease_queue_grid/gridrigid_sloth_gid000002_states/gridrigid_sloth_gid000002_grid_rigid/episode_0000/final_state_stable/state.npy",
+      "success_detail": {
+        "success_file": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000002_yawonly_gridrigid_sloth_gid000002_grid_rigid/success_lastframe_packed.txt",
+        "value": "1"
+      }
+    },
+    {
+      "episode_index": 2,
+      "global_id": 3,
+      "case": "sloth",
+      "mode": "yawonly",
+      "source_lerobot_dataset": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000003_yawonly_gridrigid_sloth_gid000003_grid_rigid/lerobot_dataset",
+      "source_replay_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000003_yawonly_gridrigid_sloth_gid000003_grid_rigid",
+      "source_episode_index": 0,
+      "stable_state_path": "/model/linzili/pgnd/real2sim-eval/log/dataset/lease_queue_grid/gridrigid_sloth_gid000003_states/gridrigid_sloth_gid000003_grid_rigid/episode_0000/final_state_stable/state.npy",
+      "success_detail": {
+        "success_file": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000003_yawonly_gridrigid_sloth_gid000003_grid_rigid/success_lastframe_packed.txt",
+        "value": "1"
+      }
+    },
+    {
+      "episode_index": 3,
+      "global_id": 5,
+      "case": "sloth",
+      "mode": "yawonly",
+      "source_lerobot_dataset": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000005_yawonly_gridrigid_sloth_gid000005_grid_rigid/lerobot_dataset",
+      "source_replay_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000005_yawonly_gridrigid_sloth_gid000005_grid_rigid",
+      "source_episode_index": 0,
+      "stable_state_path": "/model/linzili/pgnd/real2sim-eval/log/dataset/lease_queue_grid/gridrigid_sloth_gid000005_states/gridrigid_sloth_gid000005_grid_rigid/episode_0000/final_state_stable/state.npy",
+      "success_detail": {
+        "success_file": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000005_yawonly_gridrigid_sloth_gid000005_grid_rigid/success_lastframe_packed.txt",
+        "value": "1"
+      }
+    },
+    {
+      "episode_index": 4,
+      "global_id": 6,
+      "case": "sloth",
+      "mode": "yawonly",
+      "source_lerobot_dataset": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000006_yawonly_gridrigid_sloth_gid000006_grid_rigid/lerobot_dataset",
+      "source_replay_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000006_yawonly_gridrigid_sloth_gid000006_grid_rigid",
+      "source_episode_index": 0,
+      "stable_state_path": "/model/linzili/pgnd/real2sim-eval/log/dataset/lease_queue_grid/gridrigid_sloth_gid000006_states/gridrigid_sloth_gid000006_grid_rigid/episode_0000/final_state_stable/state.npy",
+      "success_detail": {
+        "success_file": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/gridrigid_sloth_gid000006_yawonly_gridrigid_sloth_gid000006_grid_rigid/success_lastframe_packed.txt",
+        "value": "1"
+      }
+    },
+    {
+      "episode_index": 5,
+      "global_id": 8,
+      "case": "sloth",
+      "mode": "yawonly",
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diff --git a/sloth/train1000_gridrigid/meta/tasks.jsonl b/sloth/train1000_gridrigid/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be746ca60f5532c1d3339dc400a5f9656ce82c0b
--- /dev/null
+++ b/sloth/train1000_gridrigid/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pack_sloth"}
diff --git a/sloth/train1000_gridrigid/release_metadata.json b/sloth/train1000_gridrigid/release_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2821451a6d42841b30ea776cd0be0008112713be
--- /dev/null
+++ b/sloth/train1000_gridrigid/release_metadata.json
@@ -0,0 +1,9 @@
+{
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+  "setting": "gridrigid_yawonly",
+  "episodes": 1000,
+  "shared_test_set": "../test200/yawonly_state_paths.txt",
+  "source_dataset_name": "sloth_gridrigid_train1000_from_success_minus_test200_yawonly_lerobot_20260607-gridrigid-train1k-test200",
+  "created_at": "2026-06-23T16:15:24.905052+00:00",
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new file mode 100644
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diff --git a/sloth/train1000_txy/meta/episodes_stats.jsonl b/sloth/train1000_txy/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c0f299a4976b970ed0141b41ff7b98bb99ab88a
--- /dev/null
+++ b/sloth/train1000_txy/meta/episodes_stats.jsonl
@@ -0,0 +1,1000 @@
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diff --git a/sloth/train1000_txy/meta/info.json b/sloth/train1000_txy/meta/info.json
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index 0000000000000000000000000000000000000000..d865dad3c282e1dc4b45ddfb24e115ca1e163e3d
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diff --git a/sloth/train1000_txy/meta/norm_stats_pi0_lora_pack_sloth_max10000.json b/sloth/train1000_txy/meta/norm_stats_pi0_lora_pack_sloth_max10000.json
new file mode 100644
index 0000000000000000000000000000000000000000..984bbfd3324e5820880957ca5b5001bdda5509b3
--- /dev/null
+++ b/sloth/train1000_txy/meta/norm_stats_pi0_lora_pack_sloth_max10000.json
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diff --git a/sloth/train1000_txy/meta/subset_manifest.json b/sloth/train1000_txy/meta/subset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..79bf8b5b86f0a828c5983b5d4f7cb020c0124be6
--- /dev/null
+++ b/sloth/train1000_txy/meta/subset_manifest.json
@@ -0,0 +1,9011 @@
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diff --git a/sloth/train1000_txy/meta/tasks.jsonl b/sloth/train1000_txy/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be746ca60f5532c1d3339dc400a5f9656ce82c0b
--- /dev/null
+++ b/sloth/train1000_txy/meta/tasks.jsonl
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+{"task_index": 0, "task": "pack_sloth"}
diff --git a/sloth/train1000_yawonly/meta/_pi0_assets_tmp/pi0_lora_pack_sloth/shashuo0104/xarm7_pack_sloth/norm_stats.json b/sloth/train1000_yawonly/meta/_pi0_assets_tmp/pi0_lora_pack_sloth/shashuo0104/xarm7_pack_sloth/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..454c831ae7a9dbdf08e392e7709f6892fcd7be15
--- /dev/null
+++ b/sloth/train1000_yawonly/meta/_pi0_assets_tmp/pi0_lora_pack_sloth/shashuo0104/xarm7_pack_sloth/norm_stats.json
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diff --git a/sloth/train1000_yawonly/meta/_pi0_assets_tmp_max200000/pi0_lora_pack_sloth/shashuo0104/xarm7_pack_sloth/norm_stats.json b/sloth/train1000_yawonly/meta/_pi0_assets_tmp_max200000/pi0_lora_pack_sloth/shashuo0104/xarm7_pack_sloth/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..874edc7c39d1908a7c10e4cf1d243ecdd5ecef3c
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diff --git a/sloth/train1000_yawonly/meta/episodes.jsonl b/sloth/train1000_yawonly/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..012d801207fbc4a2db0b191023a9d860cdbbb8ce
--- /dev/null
+++ b/sloth/train1000_yawonly/meta/episodes.jsonl
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diff --git a/sloth/train1000_yawonly/meta/episodes_stats.jsonl b/sloth/train1000_yawonly/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb9f71a9b721c389f58ce6fdf146d393f4bc0d78
--- /dev/null
+++ b/sloth/train1000_yawonly/meta/episodes_stats.jsonl
@@ -0,0 +1,1000 @@
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diff --git a/sloth/train1000_yawonly/meta/info.json b/sloth/train1000_yawonly/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d865dad3c282e1dc4b45ddfb24e115ca1e163e3d
--- /dev/null
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diff --git a/sloth/train1000_yawonly/meta/norm_stats_pi0_lora_pack_sloth_max10000.json b/sloth/train1000_yawonly/meta/norm_stats_pi0_lora_pack_sloth_max10000.json
new file mode 100644
index 0000000000000000000000000000000000000000..454c831ae7a9dbdf08e392e7709f6892fcd7be15
--- /dev/null
+++ b/sloth/train1000_yawonly/meta/norm_stats_pi0_lora_pack_sloth_max10000.json
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diff --git a/sloth/train1000_yawonly/meta/norm_stats_pi0_lora_pack_sloth_max200000.json b/sloth/train1000_yawonly/meta/norm_stats_pi0_lora_pack_sloth_max200000.json
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index 0000000000000000000000000000000000000000..874edc7c39d1908a7c10e4cf1d243ecdd5ecef3c
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diff --git a/sloth/train1000_yawonly/meta/subset_manifest.json b/sloth/train1000_yawonly/meta/subset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc4088e416a4914a4d470f414c9c573d2bf70376
--- /dev/null
+++ b/sloth/train1000_yawonly/meta/subset_manifest.json
@@ -0,0 +1,9011 @@
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+  "latest_success_summary_tag": "20260524-202734",
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+      "num_frames": 480
+    },
+    {
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002143_yawonly_sloth_gid002143_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002145_yawonly_sloth_gid002145_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "num_frames": 480
+    },
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002147_yawonly_sloth_gid002147_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002151_yawonly_sloth_gid002151_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002155_yawonly_sloth_gid002155_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002158_yawonly_sloth_gid002158_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002163_yawonly_sloth_gid002163_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002163_yawonly_sloth_gid002163_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002164_yawonly_sloth_gid002164_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "mode": "yawonly",
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+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002167_yawonly_sloth_gid002167_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002167_yawonly_sloth_gid002167_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "global_id": 2168,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002168_yawonly_sloth_gid002168_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002168_yawonly_sloth_gid002168_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002169_yawonly_sloth_gid002169_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002169_yawonly_sloth_gid002169_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "mode": "yawonly",
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+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002172_yawonly_sloth_gid002172_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002172_yawonly_sloth_gid002172_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "mode": "yawonly",
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+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002176_yawonly_sloth_gid002176_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
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+      "global_id": 2178,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002178_yawonly_sloth_gid002178_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002178_yawonly_sloth_gid002178_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "global_id": 2181,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002181_yawonly_sloth_gid002181_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002181_yawonly_sloth_gid002181_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002183_yawonly_sloth_gid002183_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002183_yawonly_sloth_gid002183_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "global_id": 2185,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002185_yawonly_sloth_gid002185_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002185_yawonly_sloth_gid002185_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002186_yawonly_sloth_gid002186_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002186_yawonly_sloth_gid002186_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002189_yawonly_sloth_gid002189_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002189_yawonly_sloth_gid002189_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
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+      "global_id": 2191,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002191_yawonly_sloth_gid002191_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002191_yawonly_sloth_gid002191_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
+      "episode_index": 997,
+      "global_id": 2192,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002192_yawonly_sloth_gid002192_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002192_yawonly_sloth_gid002192_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
+      "episode_index": 998,
+      "global_id": 2193,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002193_yawonly_sloth_gid002193_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002193_yawonly_sloth_gid002193_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    },
+    {
+      "episode_index": 999,
+      "global_id": 2196,
+      "mode": "yawonly",
+      "case": "sloth",
+      "run_dir": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002196_yawonly_sloth_gid002196_synth_shard00_sample_0000_stabilized30_initpose",
+      "source_lerobot_root": "/model/linzili/pgnd/real2sim-eval/log/experiments/output_replay/sloth_gid002196_yawonly_sloth_gid002196_synth_shard00_sample_0000_stabilized30_initpose/lerobot_dataset",
+      "num_frames": 480
+    }
+  ]
+}
diff --git a/sloth/train1000_yawonly/meta/tasks.jsonl b/sloth/train1000_yawonly/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be746ca60f5532c1d3339dc400a5f9656ce82c0b
--- /dev/null
+++ b/sloth/train1000_yawonly/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pack_sloth"}