diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..9e56e81ceceabc85f1bf5e82c563781b77ff29d7
--- /dev/null
+++ b/README.md
@@ -0,0 +1,18 @@
+---
+license: apache-2.0
+tags:
+- robotics
+- telearms
+---
+
+# TeleArms evaluation reference demos
+
+One successful BimanualYAM teleoperation demo per TeleArms task (50 tasks), in the
+raw telemetry layout (`telemetry/thorsimNNN/tasks/<uuid>/<uuid>.{json,safetensors}`).
+`training/evaluate_pi.py` in [RoboEval-telearms](https://github.com/helen9975/RoboEval-telearms/tree/PI05_training)
+builds each task's evaluation scene from its demo. These are the demos the
+workstation's own evaluations use.
+
+    bash tools/eval_quickstart.sh helen9975/pi05_telearms_v4dr
+
+downloads them into `$TELEARMS_ROOT` and scores the model.
diff --git a/telemetry/thorsim007/tasks/00138d42-4955-47e4-8973-8f074cf8c3df/00138d42-4955-47e4-8973-8f074cf8c3df.json b/telemetry/thorsim007/tasks/00138d42-4955-47e4-8973-8f074cf8c3df/00138d42-4955-47e4-8973-8f074cf8c3df.json
new file mode 100644
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@@ -0,0 +1,163 @@
+{
+  "task_id": "00138d42-4955-47e4-8973-8f074cf8c3df",
+  "task_name": "Align Blocks",
+  "task_description": "Align Blocks task",
+  "robot_name": "BimanualYAM",
+  "app_version": "1.0.0",
+  "demo_format": "v2",
+  "has_state": true,
+  "has_camera_track": true,
+  "camera_moves": 0,
+  "camera_track": {
+    "version": 1,
+    "camera_name": "bimanual_yam_linear/top_cam",
+    "camera_frame": "bimanual_yam_linear/bimanual_base",
+    "control_frequency": 500,
+    "events": [
+      {
+        "step": 0,
+        "t": 0.0,
+        "src": "baseline",
+        "ops": [],
+        "pos": [
+          -0.6,
+          0.0,
+          0.84
+        ],
+        "quat": [
+          0.653248,
+          0.270679,
+          -0.270679,
+          -0.653248
+        ],
+        "fovy": 45.0,
+        "sph": null
+      }
+    ],
+    "total_moves": 0,
+    "event_decimation": 1,
+    "dropped_events": 0
+  },
+  "input_methods": [
+    "keyboard"
+  ],
+  "timestamp": "2026-09-12 07:30:38",
+  "timestamp_unix": 1789198238.7259896,
+  "safetensors_file": "00138d42-4955-47e4-8973-8f074cf8c3df.safetensors",
+  "simulation_metrics": {
+    "task_name": "Align Blocks",
+    "task_success": true,
+    "task_stages_reached": {
+      "1": true,
+      "2": true
+    },
+    "elapsed_seconds": 38.37,
+    "frame_count": 1150,
+    "arm_velocity_sync": 0.4414,
+    "gripper_vertical_sync": 0.0745,
+    "slip_count": 1,
+    "env_collision_count": 8,
+    "self_collision_count": 0,
+    "avg_cartesian_jerk": {
+      "left": 0.0,
+      "right": 458.5259
+    },
+    "avg_joint_jerk": {
+      "left": 0.0,
+      "right": 5310.5224
+    },
+    "cartesian_path_length": {
+      "left": 0.0,
+      "right": 0.5883
+    },
+    "orientation_path_length": {
+      "left": 0.0001,
+      "right": 0.5754
+    },
+    "target_distances": {
+      "x_ptp": 0.0043,
+      "block_0-gripper_Left": 0.5233,
+      "block_0-gripper_Right": 0.2079,
+      "block_1-gripper_Left": 0.3965,
+      "block_1-gripper_Right": 0.1266,
+      "block_2-gripper_Left": 0.3043,
+      "block_2-gripper_Right": 0.1857
+    },
+    "pose_error": 0.0
+  },
+  "computed_scores": {
+    "coordination_score": 0.6597,
+    "safety_score": 0.1,
+    "smoothness_score": 0.1477,
+    "composite_score": 48
+  },
+  "task_success": true,
+  "duration_seconds": 38.37428545951843,
+  "frames_recorded": 1150,
+  "raw_final_metrics": {
+    "completion_time": 38.35495352745056,
+    "slip_count": 1,
+    "slip_count_per_object": {
+      "object_1": 0,
+      "object_2": 1,
+      "object_3": 0
+    },
+    "env_collision_count": 8,
+    "self_collision_count": 0,
+    "task_stage_reached": {
+      "1": true,
+      "2": true
+    },
+    "subtask_progress": 1.0,
+    "target_distance": {
+      "x_ptp": 0.004273402875093146,
+      "block_0-gripper_Left": 0.5233138660719976,
+      "block_0-gripper_Right": 0.20792859813510145,
+      "block_1-gripper_Left": 0.39651839820750184,
+      "block_1-gripper_Right": 0.12661486195225422,
+      "block_2-gripper_Left": 0.3042945517796567,
+      "block_2-gripper_Right": 0.1856574010747084
+    },
+    "success": 1.0,
+    "bimanual_arm_velocity_difference": 0.44137009785506315,
+    "bimanual_gripper_vertical_difference": 0.07451113046293792,
+    "cartesian_path_length": {
+      "left": 0.0,
+      "right": 0.5882795418911164
+    },
+    "total_cartesian_path_length": 0.5882795418911164,
+    "avg_cartesian_path_length": 0.2941397709455582,
+    "joint_path_length": {
+      "left": 7.118349026487174e-17,
+      "right": 3.0481018957870587
+    },
+    "total_joint_path_length": 3.0481018957870587,
+    "avg_joint_path_length": 1.5240509478935294,
+    "orientation_path_length": {
+      "left": 0.00010287761688232422,
+      "right": 0.5754475366399234
+    },
+    "total_orientation_path_length": 0.5755504142568058,
+    "avg_orientation_path_length": 0.2877752071284029,
+    "avg_cartesian_jerk": {
+      "left": 0.0,
+      "right": 458.5258530716876
+    },
+    "rms_cartesian_jerk": {
+      "left": 0.0,
+      "right": 1497.244822301292
+    },
+    "avg_joint_jerk": {
+      "left": 1.0371001116856316e-12,
+      "right": 5310.522356582038
+    },
+    "rms_joint_jerk": {
+      "left": 1.4160713955931135e-12,
+      "right": 21602.88221740534
+    },
+    "overall_avg_cartesian_jerk": 229.2629265358438,
+    "overall_rms_cartesian_jerk": 1058.711966945691,
+    "overall_avg_joint_jerk": 2655.2611782910194,
+    "overall_rms_joint_jerk": 15275.544509101595
+  }
+}
\ No newline at end of file
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+  "task_description": "Letter Face Alignment task",
+  "robot_name": "BimanualYAM",
+  "app_version": "1.0.0",
+  "demo_format": "v2",
+  "has_state": true,
+  "has_camera_track": true,
+  "camera_moves": 0,
+  "camera_track": {
+    "version": 1,
+    "camera_name": "bimanual_yam_linear/top_cam",
+    "camera_frame": "bimanual_yam_linear/bimanual_base",
+    "control_frequency": 500,
+    "events": [
+      {
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+          0.270679,
+          -0.270679,
+          -0.653248
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+        "fovy": 45.0,
+        "sph": null
+      }
+    ],
+    "total_moves": 0,
+    "event_decimation": 1,
+    "dropped_events": 0
+  },
+  "input_methods": [
+    "keyboard"
+  ],
+  "timestamp": "2026-09-20 15:23:27",
+  "timestamp_unix": 1789917807.7131553,
+  "safetensors_file": "001a129f-ee07-45c5-852b-936c941f203e.safetensors",
+  "simulation_metrics": {
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+    "task_success": true,
+    "task_stages_reached": {
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+      "3": true,
+      "4": true
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+    "orientation_path_length": {
+      "left": 1.6203,
+      "right": 0.0002
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+    "target_distances": {
+      "cube_xy_to_center": 0.0292
+    },
+    "pose_error": 0.0
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+    "safety_score": 0.0769,
+    "smoothness_score": 0.2807,
+    "composite_score": 48
+  },
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+  "frames_recorded": 2205,
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+    "slip_count": 8,
+    "slip_count_per_object": {
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+    },
+    "env_collision_count": 4,
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+    "overall_rms_joint_jerk": 7983.507479184492
+  }
+}
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+    },
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+      "left": 14988.226539752359,
+      "right": 24775.225148113288
+    },
+    "overall_avg_cartesian_jerk": 470.9109361670978,
+    "overall_rms_cartesian_jerk": 1443.971102664065,
+    "overall_avg_joint_jerk": 6326.099449855544,
+    "overall_rms_joint_jerk": 20475.09115909673
+  }
+}
\ No newline at end of file
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