diff --git a/pick_objects_multiscene1/scene1/meta/episodes.jsonl b/pick_objects_multiscene1/scene1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6535b7544ab0b99da97afc1c473bfaab05042380
--- /dev/null
+++ b/pick_objects_multiscene1/scene1/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene1/scene1/meta/episodes_stats.jsonl b/pick_objects_multiscene1/scene1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..268f69c43d1005925fff9c6e63a3dd75defc3b0f
--- /dev/null
+++ b/pick_objects_multiscene1/scene1/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene1/scene1/meta/info.json b/pick_objects_multiscene1/scene1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c02d39a421ca1e44c70d5856858a8af5c0a17027
--- /dev/null
+++ b/pick_objects_multiscene1/scene1/meta/info.json
@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "SO100",
+    "total_episodes": 99,
+    "total_frames": 18824,
+    "total_tasks": 3,
+    "total_videos": 198,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:99"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
+        },
+        "observation.images.front_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+                1
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+            "names": null
+        },
+        "episode_index": {
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene1/meta/modality.json b/pick_objects_multiscene1/scene1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene1/scene1/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "action": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "video": {
+        "front": {
+            "original_key": "observation.images.front_cam"
+        },
+        "wrist": {
+            "original_key": "observation.images.wrist_cam"
+        }
+    },
+    "annotation": {
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene1/meta/stats.json b/pick_objects_multiscene1/scene1/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5ed416b939c29eae81f527481a05b2de80f096
--- /dev/null
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@@ -0,0 +1,202 @@
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diff --git a/pick_objects_multiscene1/scene1/meta/tasks.jsonl b/pick_objects_multiscene1/scene1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene1/scene1/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
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diff --git a/pick_objects_multiscene1/scene2/meta/episodes.jsonl b/pick_objects_multiscene1/scene2/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..616beb69e6228b07445122f0e9a57a5d597f2685
--- /dev/null
+++ b/pick_objects_multiscene1/scene2/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene1/scene2/meta/episodes_stats.jsonl b/pick_objects_multiscene1/scene2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..825655a0cabd16343288f5f2d91727a3546af7f3
--- /dev/null
+++ b/pick_objects_multiscene1/scene2/meta/episodes_stats.jsonl
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diff --git a/pick_objects_multiscene1/scene2/meta/info.json b/pick_objects_multiscene1/scene2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca17461ec9657203834c0adf7e9d3bfd7771d2e
--- /dev/null
+++ b/pick_objects_multiscene1/scene2/meta/info.json
@@ -0,0 +1,127 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene2/meta/modality.json b/pick_objects_multiscene1/scene2/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene1/scene2/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene2/meta/stats.json b/pick_objects_multiscene1/scene2/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b9352e6ccfc6d5d3a5e2efc07e2c06950c402c1
--- /dev/null
+++ b/pick_objects_multiscene1/scene2/meta/stats.json
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diff --git a/pick_objects_multiscene1/scene2/meta/tasks.jsonl b/pick_objects_multiscene1/scene2/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene1/scene2/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
+{"task_index": 2, "task": "touch the blue cube"}
diff --git a/pick_objects_multiscene1/scene4/meta/episodes.jsonl b/pick_objects_multiscene1/scene4/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14e88d98ed0ca40137563ffca97230a97763ebcc
--- /dev/null
+++ b/pick_objects_multiscene1/scene4/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene1/scene4/meta/episodes_stats.jsonl b/pick_objects_multiscene1/scene4/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..80d26c6a2f59254970f8158a477f143585572aa6
--- /dev/null
+++ b/pick_objects_multiscene1/scene4/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene1/scene4/meta/info.json b/pick_objects_multiscene1/scene4/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf6e64c15c481f88baa8a92f84d34b67e2606bb
--- /dev/null
+++ b/pick_objects_multiscene1/scene4/meta/info.json
@@ -0,0 +1,127 @@
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+                "a_3",
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene4/meta/modality.json b/pick_objects_multiscene1/scene4/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene1/scene4/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+            "end": 5
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+        "gripper": {
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+            "end": 6
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+    },
+    "video": {
+        "front": {
+            "original_key": "observation.images.front_cam"
+        },
+        "wrist": {
+            "original_key": "observation.images.wrist_cam"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene4/meta/stats.json b/pick_objects_multiscene1/scene4/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd6432b3e43ac7d5a43eabbd3f7897d88fc655e
--- /dev/null
+++ b/pick_objects_multiscene1/scene4/meta/stats.json
@@ -0,0 +1,202 @@
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\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene4/meta/tasks.jsonl b/pick_objects_multiscene1/scene4/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene1/scene4/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
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diff --git a/pick_objects_multiscene1/scene8/meta/episodes.jsonl b/pick_objects_multiscene1/scene8/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..460b489057ac0e4e3c5ce9b7475689f6dc556d28
--- /dev/null
+++ b/pick_objects_multiscene1/scene8/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene1/scene8/meta/episodes_stats.jsonl b/pick_objects_multiscene1/scene8/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d08961bec15bf64ea0d71ebdc3779de07705dc37
--- /dev/null
+++ b/pick_objects_multiscene1/scene8/meta/episodes_stats.jsonl
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diff --git a/pick_objects_multiscene1/scene8/meta/info.json b/pick_objects_multiscene1/scene8/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3ea29878c5b5d22ca661c0fde9f0757c8e2ffdd
--- /dev/null
+++ b/pick_objects_multiscene1/scene8/meta/info.json
@@ -0,0 +1,127 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene8/meta/modality.json b/pick_objects_multiscene1/scene8/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene1/scene8/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+            "original_key": "task_index"
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+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene1/scene8/meta/stats.json b/pick_objects_multiscene1/scene8/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..56718a5975145c8cc9c0c46a20efdae60ce5aa24
--- /dev/null
+++ b/pick_objects_multiscene1/scene8/meta/stats.json
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diff --git a/pick_objects_simple/meta/episodes_stats.jsonl b/pick_objects_simple/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f4300e80c6ee7bbffc1c6bdc357980098b0f024
--- /dev/null
+++ b/pick_objects_simple/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_simple/meta/info.json b/pick_objects_simple/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0736a07923c8f98be1a72134f52a37ad47e9cdee
--- /dev/null
+++ b/pick_objects_simple/meta/info.json
@@ -0,0 +1,127 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_simple/meta/modality.json b/pick_objects_simple/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_simple/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+    "annotation": {
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+}
\ No newline at end of file
diff --git a/pick_objects_simple/meta/stats.json b/pick_objects_simple/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df98b7bfa558e936f9a061b6a023910cc23e82a
--- /dev/null
+++ b/pick_objects_simple/meta/stats.json
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\ No newline at end of file
diff --git a/pick_objects_simple/meta/tasks.jsonl b/pick_objects_simple/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_simple/meta/tasks.jsonl
@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "touch the red cube"}
+{"task_index": 1, "task": "touch the green cube"}
+{"task_index": 2, "task": "touch the blue cube"}