diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/episodes.jsonl b/Surgical/ucsd/surgical_learning_dataset2/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1239bf7dacd73f48384e428aa6208e2ecceb455d
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_dataset2/meta/episodes.jsonl
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diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/episodes_stats.jsonl b/Surgical/ucsd/surgical_learning_dataset2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdef59cf076af5153b801b17a60752bab8bc0e8c
--- /dev/null
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diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/info.json b/Surgical/ucsd/surgical_learning_dataset2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d6176ed72934ad5ca9e6c5b0e0c3d24bd5653ef
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_dataset2/meta/info.json
@@ -0,0 +1,184 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "dvrk",
+    "total_episodes": 200,
+    "total_frames": 26313,
+    "total_tasks": 1,
+    "total_videos": 400,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "observation.images.left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "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.right": {
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+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "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.state": {
+            "dtype": "float32",
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+                28
+            ],
+            "names": [
+                "psm_retraction_yaw_joint_pos",
+                "psm_retraction_pitch_end_joint_pos",
+                "psm_retraction_main_insertion_joint_pos",
+                "psm_retraction_tool_roll_joint_pos",
+                "psm_retraction_tool_pitch_joint_pos",
+                "psm_retraction_tool_yaw_joint_pos",
+                "psm_retraction_tool_gripper_pos",
+                "psm_cutter_yaw_joint_pos",
+                "psm_cutter_pitch_end_joint_pos",
+                "psm_cutter_main_insertion_joint_pos",
+                "psm_cutter_tool_roll_joint_pos",
+                "psm_cutter_tool_pitch_joint_pos",
+                "psm_cutter_tool_yaw_joint_pos",
+                "psm_cutter_tool_gripper_pos",
+                "retract_ee_x",
+                "retract_ee_y",
+                "retract_ee_z",
+                "retract_ee_qw",
+                "retract_ee_qx",
+                "retract_ee_qy",
+                "retract_ee_qz",
+                "cutter_ee_x",
+                "cutter_ee_y",
+                "cutter_ee_z",
+                "cutter_ee_qw",
+                "cutter_ee_qx",
+                "cutter_ee_qy",
+                "cutter_ee_qz"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "dPSM_RETRACTION_x",
+                "dPSM_RETRACTION_y",
+                "dPSM_RETRACTION_z",
+                "dPSM_RETRACTION_qw",
+                "dPSM_RETRACTION_qx",
+                "dPSM_RETRACTION_qy",
+                "dPSM_RETRACTION_qz",
+                "dPSM_RETRACTION_gripper",
+                "dPSM_CUTTER_x",
+                "dPSM_CUTTER_y",
+                "dPSM_CUTTER_z",
+                "dPSM_CUTTER_qw",
+                "dPSM_CUTTER_qx",
+                "dPSM_CUTTER_qy",
+                "dPSM_CUTTER_qz",
+                "dPSM_CUTTER_gripper"
+            ]
+        },
+        "observation.meta.tool": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": [
+                "Bipolar Foceps, Potts Scissors"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ]
+        },
+        "instruction.text": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "description": "Retraction trajectory: the Bipolar Foceps PSM grasps the deformable tissue and retracts it to create or adjust tension. "
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/modality.json b/Surgical/ucsd/surgical_learning_dataset2/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..0641cba60856dffa904b787d96c8a4f59c4d08d5
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_dataset2/meta/modality.json
@@ -0,0 +1,18 @@
+{
+  "video": {
+    "camera_left": { "original_key": "observation.images.left" },
+    "camera_right": { "original_key": "observation.images.right" }
+  },
+  "state": {
+    "psm_retraction_pose": { "start": 14, "end": 21 },
+    "psm_retraction_gripper": { "start": 6, "end": 7 },
+    "psm_cutter_pose": { "start": 21, "end": 28 },
+    "psm_cutter_gripper": { "start": 13, "end": 14 }
+  },
+  "action": {
+    "psm_retraction_pose": { "start": 0, "end": 7 },
+    "psm_retraction_gripper": { "start": 7, "end": 8 },
+    "psm_cutter_pose": { "start": 8, "end": 15 },
+    "psm_cutter_gripper": { "start": 15, "end": 16 }
+  }
+}
diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/temporal_stats.json b/Surgical/ucsd/surgical_learning_dataset2/meta/temporal_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9784baecba3db5d6adbe16161c9d769cc958503e
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_dataset2/meta/temporal_stats.json
@@ -0,0 +1,6678 @@
+{
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diff --git a/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/episodes_stats.jsonl b/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b67e984971d99583fe8b2cebaf700da89989883
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/episodes_stats.jsonl
@@ -0,0 +1,299 @@
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diff --git a/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/info.json b/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3abed7d2ba71893a35132cebdc6f3e8659d4ec47
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/info.json
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+                "height",
+                "width",
+                "channel"
+            ],
+            "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.state": {
+            "dtype": "float32",
+            "shape": [
+                54
+            ],
+            "names": [
+                "psm_retraction_yaw_joint_pos",
+                "psm_retraction_pitch_end_joint_pos",
+                "psm_retraction_main_insertion_joint_pos",
+                "psm_retraction_tool_roll_joint_pos",
+                "psm_retraction_tool_pitch_joint_pos",
+                "psm_retraction_tool_yaw_joint_pos",
+                "psm_retraction_yaw_joint_vel",
+                "psm_retraction_pitch_end_joint_vel",
+                "psm_retraction_main_insertion_joint_vel",
+                "psm_retraction_tool_roll_joint_vel",
+                "psm_retraction_tool_pitch_joint_vel",
+                "psm_retraction_tool_yaw_joint_vel",
+                "psm_retraction_yaw_joint_effort",
+                "psm_retraction_pitch_end_joint_effort",
+                "psm_retraction_main_insertion_joint_effort",
+                "psm_retraction_tool_roll_joint_effort",
+                "psm_retraction_tool_pitch_joint_effort",
+                "psm_retraction_tool_yaw_joint_effort",
+                "psm_retraction_tool_gripper_pos",
+                "psm_retraction_tool_gripper_effort",
+                "psm_cutter_yaw_joint_pos",
+                "psm_cutter_pitch_end_joint_pos",
+                "psm_cutter_main_insertion_joint_pos",
+                "psm_cutter_tool_roll_joint_pos",
+                "psm_cutter_tool_pitch_joint_pos",
+                "psm_cutter_tool_yaw_joint_pos",
+                "psm_cutter_yaw_joint_vel",
+                "psm_cutter_pitch_end_joint_vel",
+                "psm_cutter_main_insertion_joint_vel",
+                "psm_cutter_tool_roll_joint_vel",
+                "psm_cutter_tool_pitch_joint_vel",
+                "psm_cutter_tool_yaw_joint_vel",
+                "psm_cutter_yaw_joint_effort",
+                "psm_cutter_pitch_end_joint_effort",
+                "psm_cutter_main_insertion_joint_effort",
+                "psm_cutter_tool_roll_joint_effort",
+                "psm_cutter_tool_pitch_joint_effort",
+                "psm_cutter_tool_yaw_joint_effort",
+                "psm_cutter_tool_gripper_pos",
+                "psm_cutter_tool_gripper_effort",
+                "retract_ee_x",
+                "retract_ee_y",
+                "retract_ee_z",
+                "retract_ee_qw",
+                "retract_ee_qx",
+                "retract_ee_qy",
+                "retract_ee_qz",
+                "cutter_ee_x",
+                "cutter_ee_y",
+                "cutter_ee_z",
+                "cutter_ee_qw",
+                "cutter_ee_qx",
+                "cutter_ee_qy",
+                "cutter_ee_qz"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "dPSM_RETRACTION_x",
+                "dPSM_RETRACTION_y",
+                "dPSM_RETRACTION_z",
+                "dPSM_RETRACTION_qw",
+                "dPSM_RETRACTION_qx",
+                "dPSM_RETRACTION_qy",
+                "dPSM_RETRACTION_qz",
+                "dPSM_RETRACTION_gripper",
+                "dPSM_CUTTER_x",
+                "dPSM_CUTTER_y",
+                "dPSM_CUTTER_z",
+                "dPSM_CUTTER_qw",
+                "dPSM_CUTTER_qx",
+                "dPSM_CUTTER_qy",
+                "dPSM_CUTTER_qz",
+                "dPSM_CUTTER_gripper"
+            ]
+        },
+        "observation.meta.tool": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": [
+                "Bipolar Forceps, Pott Scissors"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ]
+        },
+        "instruction.text": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "description": "Retraction trajectory: the Bipolar Forceps PSM grasps the deformable tissue and retracts it to create or adjust tension. "
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/tasks.jsonl b/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e4f00e006fe3822ffec3f41921cee842b2864d2
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_retraction_failurecase/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Retraction"}
diff --git a/Surgical/ucsd/surgical_learning_retraction_failurecase/readme.md b/Surgical/ucsd/surgical_learning_retraction_failurecase/readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..37fa999a9fde82e0e5d7ff22f7381e664ddf809f
--- /dev/null
+++ b/Surgical/ucsd/surgical_learning_retraction_failurecase/readme.md
@@ -0,0 +1,215 @@
+# Retraction Failure-Case Dataset
+
+---
+
+## 📋 At a Glance
+
+Teleoperated **failure-case** demonstrations of surgical retraction collected for learning-based robotic manipulation on the da Vinci Research Kit (dVRK).
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains expert teleoperated demonstrations of **retraction failure cases**, capturing unsuccessful or suboptimal executions during surgical manipulation workflows.  
+The dataset is designed to support research in **robust imitation learning**, **failure recovery**, **error-aware policy learning**, and **robot state–conditioned control** in contact-rich and constrained environments.
+
+Demonstrations include loss of stable grasp, insufficient tissue tension, slippage, and misaligned pulling directions, without successful task completion.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 299 |
+| **Total Hours** | ~0.62 |
+| **Data Type** | [ ] Clinical  [ ] Ex-Vivo  [x] Table-Top Phantom  [ ] Digital Simulation  [ ] Physical Simulation |
+| **Robot Platform** | da Vinci Research Kit (dVRK) |
+| **FPS** | 30 |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+- [x] Surgical Robotics
+- [ ] Ultrasound Robotics
+- [ ] Other Healthcare Robotics
+
+### Demonstrated Skills
+
+This dataset focuses on **failure cases of a single surgical manipulation skill**:
+
+- **Retraction (Failure Cases)**
+  - Unstable or failed tissue grasp
+  - Insufficient or inconsistent tension application
+  - Slippage during pulling
+  - Misaligned pulling direction leading to task failure
+
+Task semantics are provided via `instruction.text` for each episode and indicate failure or unsuccessful execution.
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+- [x] Human Teleoperation
+- [ ] Programmatic / State-Machine
+- [ ] AI Policy / Autonomous
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | 2 |
+| **Operator Skill Level** | Intermediate (Trained Researcher) |
+| **Collection Period** | 2024-06-01 to 2024-08-30 |
+
+### Recovery Demonstrations
+
+- [ ] Yes
+- [x] No
+
+*Note: Episodes terminate upon task failure and do not include corrective recovery behaviors.*
+
+---
+
+## 💡 Diversity Dimensions
+
+- [ ] Camera Position / Angle  
+- [ ] Lighting Conditions  
+- [x] Target Object  
+- [x] Spatial Layout  
+- [ ] Robot Embodiment  
+- [x] Failure Mode  
+- [ ] Background / Scene  
+
+**Elaboration:**  
+Failures arise from diverse initial conditions, tissue placements, and operator-induced perturbations, resulting in varied failure modes across episodes.
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform
+
+- **da Vinci Research Kit (dVRK)**  
+  - Dual PSM configuration:
+    - Bipolar Forceps (Retraction)
+    - Potts Scissors (present but not actively used)
+
+### Sensors & Cameras
+
+| Type | Model / Details |
+| :--- | :--- |
+| Primary Camera | Stereo endoscopic cameras, 480×640 @ 30fps |
+| Room Camera | Not used |
+| Force/Torque Sensor | Not available |
+| Other Sensors | Robot joint encoders |
+
+---
+
+## 🎯 Action & State Space Representation
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [ ] Absolute Cartesian  
+- [x] Relative Cartesian (delta end-effector pose)  
+- [ ] Joint Space  
+- [ ] Other  
+
+**Orientation Representation:**
+- [x] Quaternions (qw, qx, qy, qz)
+- [ ] **Euler Angles**
+- [ ] **Axis-Angle**
+- [ ] **Rotation Matrix**
+- [ ] **Other**
+
+**Reference Frame:**
+- [ ] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [ ] **Camera Frame**
+- [x] Other (delta end-effector pose commands; reference frame not explicitly specified)
+
+**Action Dimensions (16D):**
+```
+action: [
+  dPSM_RETRACTION_x,
+  dPSM_RETRACTION_y,
+  dPSM_RETRACTION_z,
+  dPSM_RETRACTION_qw,
+  dPSM_RETRACTION_qx,
+  dPSM_RETRACTION_qy,
+  dPSM_RETRACTION_qz,
+  dPSM_RETRACTION_gripper,
+  dPSM_CUTTER_x,
+  dPSM_CUTTER_y,
+  dPSM_CUTTER_z,
+  dPSM_CUTTER_qw,
+  dPSM_CUTTER_qx,
+  dPSM_CUTTER_qy,
+  dPSM_CUTTER_qz,
+  dPSM_CUTTER_gripper
+]
+```
+
+- Relative end-effector pose updates per timestep  
+- Quaternion-based orientation deltas  
+- Gripper control commands  
+
+---
+
+### State Space Representation
+
+**State Information Included:**
+- [x] Joint Positions  
+- [x] Joint Velocities  
+- [x] Joint Efforts  
+- [x] End-Effector Pose  
+- [x] Gripper State  
+- [ ] Force/Torque Readings  
+
+**State Dimensions (54D):**
+```
+observation.state: [
+  psm_retraction_joint_positions (6),
+  psm_retraction_joint_velocities (6),
+  psm_retraction_joint_efforts (6),
+  psm_retraction_gripper_state (2),
+  psm_cutter_joint_positions (6),
+  psm_cutter_joint_velocities (6),
+  psm_cutter_joint_efforts (6),
+  psm_cutter_gripper_state (2),
+  retraction_end_effector_pose (7),
+  cutter_end_effector_pose (7)
+]
+```
+
+- `observation.state` is a 54-D float32 vector  
+- Includes joint positions, velocities, efforts, gripper states, and EE poses  
+
+---
+
+## ⏱️ Data Synchronization Approach
+
+All robot state signals, action commands, and stereo endoscopic video streams are synchronized using a shared system clock during data collection.
+
+- Robot states and actions are recorded at the control frequency.
+- Stereo endoscopic videos are captured at **30 FPS**.
+- During dataset export, all modalities are aligned by timestamp and stored per frame in parquet format.
+
+This ensures consistent temporal correspondence between visual observations and robot kinematics across failure-case episodes.
+
+---
+
+## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Changwei Chen, Yinuo Yang, Xiao Liang, Michael Yip |
+| **Institution** | Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA |
+| **Contact Email** | {chc165, yiy124 ,x5liang, yip}@ucsd.edu |
+| **Citation (BibTeX)** | @misc{ucsd_openh_phantom_2026, author = {Chen, Changwei and Yang, Yinuo and Liang, Xiao and Yip, Michael}, title = {UC San Diego Phantom Surgical Robotics Dataset (Open-H Embodiment)}, year = {2026}, publisher = {Open-H Embodiment}, note = {Dataset will be released via Open-H Embodiment; link/DOI forthcoming. Contact: chc165@ucsd.edu}
+} |