diff --git a/pick_objects_multiscene0/scene9/meta/episodes_stats.jsonl b/pick_objects_multiscene0/scene9/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eaef80704a939985f5683c151dbd849cd946e1f7
--- /dev/null
+++ b/pick_objects_multiscene0/scene9/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene0/scene9/meta/modality.json b/pick_objects_multiscene0/scene9/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene0/scene9/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene0/scene9/meta/stats.json b/pick_objects_multiscene0/scene9/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bbaf4937a1ef9396117e116091b928771402d0b
--- /dev/null
+++ b/pick_objects_multiscene0/scene9/meta/stats.json
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\ No newline at end of file
diff --git a/pick_objects_multiscene2/scene1/meta/episodes.jsonl b/pick_objects_multiscene2/scene1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c5b1101a2de9a604d8636accd062e2e8124a6b3
--- /dev/null
+++ b/pick_objects_multiscene2/scene1/meta/episodes.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene2/scene1/meta/episodes_stats.jsonl b/pick_objects_multiscene2/scene1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9851b556e47cbec91cc54fce23ad974b750e3319
--- /dev/null
+++ b/pick_objects_multiscene2/scene1/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene2/scene1/meta/info.json b/pick_objects_multiscene2/scene1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..013ec56053ed91c7f0dd2e088d4bd42e1622cd9c
--- /dev/null
+++ b/pick_objects_multiscene2/scene1/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "features": {
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+                "a_3",
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene2/scene1/meta/modality.json b/pick_objects_multiscene2/scene1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene2/scene1/meta/modality.json
@@ -0,0 +1,35 @@
+{
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+            "end": 5
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+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene2/scene1/meta/stats.json b/pick_objects_multiscene2/scene1/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac348bb45ecd39c529b5e369dda24b1111107f8
--- /dev/null
+++ b/pick_objects_multiscene2/scene1/meta/stats.json
@@ -0,0 +1,202 @@
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diff --git a/pick_objects_multiscene2/scene1/meta/tasks.jsonl b/pick_objects_multiscene2/scene1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene2/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_multiscene2/scene2/meta/episodes.jsonl b/pick_objects_multiscene2/scene2/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34a2873076bf4e34891fce5231c1984ceaac2784
--- /dev/null
+++ b/pick_objects_multiscene2/scene2/meta/episodes.jsonl
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diff --git a/pick_objects_multiscene2/scene2/meta/episodes_stats.jsonl b/pick_objects_multiscene2/scene2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..853ef13ae69ac96efcc2fe2a3969625abcca6efe
--- /dev/null
+++ b/pick_objects_multiscene2/scene2/meta/episodes_stats.jsonl
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diff --git a/pick_objects_multiscene2/scene2/meta/info.json b/pick_objects_multiscene2/scene2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d283d76e47ea8818207fa6b31d7113fdc1d46e8e
--- /dev/null
+++ b/pick_objects_multiscene2/scene2/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "robot_type": "SO100",
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+    "total_frames": 18245,
+    "total_tasks": 3,
+    "total_videos": 198,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:99"
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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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+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
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+        "observation.images.front_cam": {
+            "dtype": "video",
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+                640,
+                3
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+                "width",
+                "channels"
+            ],
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+                "video.width": 640,
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+                "video.is_depth_map": false,
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+        "observation.images.wrist_cam": {
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+                "width",
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+                "video.width": 640,
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+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
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+        "task_index": {
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+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene2/scene2/meta/modality.json b/pick_objects_multiscene2/scene2/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene2/scene2/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
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+            "end": 5
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+            "end": 6
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+    "action": {
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+        "gripper": {
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+        "wrist": {
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+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/pick_objects_multiscene2/scene2/meta/stats.json b/pick_objects_multiscene2/scene2/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..830eff4d9bbb31faa3d3f228d8d10c5dcbc3f8e8
--- /dev/null
+++ b/pick_objects_multiscene2/scene2/meta/stats.json
@@ -0,0 +1,202 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_objects_multiscene2/scene2/meta/tasks.jsonl b/pick_objects_multiscene2/scene2/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a47b97a4cf06daa8ea14aa35796b8cd93be671e
--- /dev/null
+++ b/pick_objects_multiscene2/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_multiscene2/scene4/meta/episodes.jsonl b/pick_objects_multiscene2/scene4/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..001616ee46e8928591121106b6895fa52177ffa0
--- /dev/null
+++ b/pick_objects_multiscene2/scene4/meta/episodes.jsonl
@@ -0,0 +1,99 @@
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+{"episode_index": 1, "tasks": ["touch the red cube"], "length": 148}
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diff --git a/pick_objects_multiscene2/scene4/meta/episodes_stats.jsonl b/pick_objects_multiscene2/scene4/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67ce74716b32e1e03f4da193acd721caebc58df7
--- /dev/null
+++ b/pick_objects_multiscene2/scene4/meta/episodes_stats.jsonl
@@ -0,0 +1,99 @@
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diff --git a/pick_objects_multiscene2/scene4/meta/info.json b/pick_objects_multiscene2/scene4/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..76bcc894c3485e5774533345667dcb5ec1f62aa6
--- /dev/null
+++ b/pick_objects_multiscene2/scene4/meta/info.json
@@ -0,0 +1,127 @@
+{
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+    "robot_type": "SO100",
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+    "total_frames": 17781,
+    "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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+            "shape": [
+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
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+        "observation.images.front_cam": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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
+            }
+        },
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+                6
+            ],
+            "names": [
+                "a_1",
+                "a_2",
+                "a_3",
+                "a_4",
+                "a_5",
+                "a_6"
+            ]
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+                1
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+            "names": null
+        },
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+            "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_multiscene2/scene4/meta/modality.json b/pick_objects_multiscene2/scene4/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5543666d43610bc9e8e316f704867afae1c838b5
--- /dev/null
+++ b/pick_objects_multiscene2/scene4/meta/modality.json
@@ -0,0 +1,35 @@
+{
+    "state": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
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+            "end": 6
+        }
+    },
+    "action": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
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+            "end": 6
+        }
+    },
+    "video": {
+        "front": {
+            "original_key": "observation.images.front_cam"
+        },
+        "wrist": {
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