diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..1d60c8f3681b1ae6af97f120a596207a1fffa719 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+meta/xense/runtime_OG000691 filter=lfs diff=lfs merge=lfs -text
+meta/xense/runtime_OG000692 filter=lfs diff=lfs merge=lfs -text
diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e35a082d63ab361e9995853d90896673493ceb98
--- /dev/null
+++ b/meta/episodes.jsonl
@@ -0,0 +1,2 @@
+{"episode_index":0,"tasks":["pick up the cup"],"length":157,"split_group_id":"cup_instance_02"}
+{"episode_index":1,"tasks":["pick up the cup"],"length":142,"split_group_id":"cup_instance_02"}
diff --git a/meta/episodes_stats.jsonl b/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f18261b47bd1980a43697fae9402443c2c63d25f
--- /dev/null
+++ b/meta/episodes_stats.jsonl
@@ -0,0 +1,2 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.14788174629211426, 0.006824237294495106, -0.27611109614372253, 0.0, -0.5636715292930603, -0.020472712814807892, 38.709999084472656], "max": [0.21334904432296753, 1.0387675762176514, -0.0049916417337954044, 0.0, 0.06578145921230316, -0.008220500312745571, 69.58000183105469], "mean": [0.04722096771001816, 0.7604403495788574, -0.1004640981554985, 0.0, -0.43463051319122314, -0.014216223731637001, 62.488616943359375], "std": [0.13892297446727753, 0.3756296634674072, 0.0817406103014946, 0.0, 0.23793353140354156, 0.004059801809489727, 11.915915489196777], "count": [157]}, "action": {"min": [-0.1540416032075882, 0.0, -0.285516619682312, 0.0, -0.5801345705986023, -0.036225978285074234, 38.236167907714844], "max": [0.21951746940612793, 1.0404449701309204, -0.0013877477031201124, 0.0, 0.062263373285532, -0.006275053136050701, 90.8075942993164], "mean": [0.04213177040219307, 0.7529621720314026, -0.10231940448284149, 0.0, -0.44193539023399353, -0.02097800001502037, 71.46475982666016], "std": [0.13882248103618622, 0.3865289092063904, 0.08164756000041962, 0.0, 0.25203511118888855, 0.009872566908597946, 19.217893600463867], "count": [157]}, "observation.tactile_sdk_timestamp": {"min": [1786526329.67836, 1786526329.6777446], "max": [1786526337.5032399, 1786526337.5087676], "mean": [1786526333.5730295, 1786526333.5731726], "std": [2.280905317366289, 2.2809778341935583], "count": [157]}, "observation.state.timestamp": {"min": [12459.292681972], "max": [12467.109170439], "mean": [12463.186391520427], "std": [2.2787475579348295], "count": [157]}, "action.timestamp": {"min": [12459.295228883], "max": [12467.110411864], "mean": [12463.187664083145], "std": [2.2787446658276744], "count": [157]}, "observation.images.wrist.timestamp": {"min": [12459.264454995], "max": [12467.074710597], "mean": [12463.161464411578], "std": [2.2817498761116193], "count": [157]}, "observation.images.front.timestamp": {"min": [12459.260764484], "max": [12467.080861799], "mean": [12463.169817906693], "std": [2.271993849395103], "count": [157]}, "observation.images.tactile_left.timestamp": {"min": [12459.274569688], "max": [12467.09944197], "mean": [12463.169239027438], "std": [2.2809036109740197], "count": [157]}, "observation.images.tactile_right.timestamp": {"min": [12459.273957464], "max": [12467.104968462], "mean": [12463.169385043446], "std": [2.280969627705245], "count": [157]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6646624877450981]], [[0.6702676797385622]], [[0.6711145057189543]]], "std": [[[0.28151768080886347]], [[0.2758797332821056]], [[0.28101650183178734]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4433376633986928]], [[0.46185529207516335]], [[0.4614472977941177]]], "std": [[[0.20613894844208389]], [[0.18182411609932683]], [[0.17333230597318103]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.08627450980392157]], [[0.19607843137254902]], [[0.25882352941176473]]], "max": [[[0.4627450980392157]], [[0.6196078431372549]], [[1.0]]], "mean": [[[0.31207151820728296]], [[0.4295173736694678]], [[0.6005573154061624]]], "std": [[[0.06145607998314573]], [[0.050759708245277244]], [[0.13139780937325293]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.12156862745098039]], [[0.20392156862745098]], [[0.28627450980392155]]], "max": [[[0.4666666666666667]], [[0.6078431372549019]], [[0.9333333333333333]]], "mean": [[[0.30926627002801116]], [[0.4251696918767507]], [[0.59474676302521]]], "std": [[[0.068035017249301]], [[0.04405912082076585]], [[0.11844969498293964]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.8], "mean": [3.9], "std": [2.266053838724932], "count": [157]}, "frame_index": {"min": [0], "max": [156], "mean": [78.0], "std": [45.32107677449864], "count": [157]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [157]}, "index": {"min": [0], "max": [156], "mean": [78.0], "std": [45.32107677449864], "count": [157]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [157]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [-0.143431156873703, 0.006824237294495106, -0.14899875223636627, 0.0, -0.8609359860420227, -0.020629791542887688, 35.97999954223633], "max": [0.23544491827487946, 1.185322880744934, -0.003525565145537257, 0.00970403105020523, 0.13355259597301483, -0.006894050631672144, 69.58000183105469], "mean": [-0.002521520247682929, 0.6208125352859497, -0.048368245363235474, 0.0004954522592015564, -0.447165846824646, -0.015439770184457302, 61.8306884765625], "std": [0.1359090507030487, 0.5077028274536133, 0.055514611303806305, 0.0020469105802476406, 0.4299364984035492, 0.005641481839120388, 13.178569793701172], "count": [142]}, "action": {"min": [-0.149958997964859, 0.0, -0.15562912821769714, 0.0, -0.8857308626174927, -0.036225978285074234, 35.12138748168945], "max": [0.23788921535015106, 1.19155752658844, -0.0013877477031201124, 0.0, 0.12897807359695435, -0.004135701339691877, 71.6630859375], "mean": [-0.002697422867640853, 0.6206700801849365, -0.05063864588737488, 0.0, -0.46052002906799316, -0.019834313541650772, 62.709842681884766], "std": [0.13521385192871094, 0.5100434422492981, 0.05557265132665634, 0.0, 0.4400312006473541, 0.011202715337276459, 14.065572738647461], "count": [142]}, "observation.tactile_sdk_timestamp": {"min": [1786526352.5282307, 1786526352.5430808], "max": [1786526359.5955477, 1786526359.5948064], "mean": [1786526356.0653343, 1786526356.0664399], "std": [2.04941554454199, 2.048940759308948], "count": [142]}, "observation.state.timestamp": {"min": [12482.159267059], "max": [12489.209233616], "mean": [12485.684213024197], "std": [2.0495405342600947], "count": [142]}, "action.timestamp": {"min": [12482.160850358], "max": [12489.210639444], "mean": [12485.685635375154], "std": [2.0495570314292797], "count": [142]}, "observation.images.wrist.timestamp": {"min": [12482.119084081], "max": [12489.176299605], "mean": [12485.655615026415], "std": [2.0515232853311054], "count": [142]}, "observation.images.front.timestamp": {"min": [12482.121067146], "max": [12489.189190682], "mean": [12485.653990624713], "std": [2.054959593346476], "count": [142]}, "observation.images.tactile_left.timestamp": {"min": [12482.124428433], "max": [12489.191749373], "mean": [12485.661544552788], "std": [2.049415202894575], "count": [142]}, "observation.images.tactile_right.timestamp": {"min": [12482.13928029], "max": [12489.191009732], "mean": [12485.66264877893], "std": [2.048939854343646], "count": [142]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6659395894607842]], [[0.6694344730392157]], [[0.6697633986928105]]], "std": [[[0.28199372928667504]], [[0.2769773201498375]], [[0.28173698872630537]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.00784313725490196]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44700799428104576]], [[0.456821983251634]], [[0.4483209681372549]]], "std": [[[0.19345866548157795]], [[0.17867425719604024]], [[0.17532911227169773]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.09019607843137255]], [[0.19607843137254902]], [[0.2627450980392157]]], "max": [[[0.4588235294117647]], [[0.615686274509804]], [[1.0]]], "mean": [[[0.31160455798319325]], [[0.4294848224089636]], [[0.6001727977591037]]], "std": [[[0.06146826493168265]], [[0.05075143576371268]], [[0.13144692182101408]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.11764705882352941]], [[0.20784313725490197]], [[0.28627450980392155]]], "max": [[[0.4666666666666667]], [[0.6078431372549019]], [[0.9333333333333333]]], "mean": [[[0.30875452773109247]], [[0.4253072918767507]], [[0.5943762464985994]]], "std": [[[0.06801336143410916]], [[0.04401494627235412]], [[0.11848467860742623]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.05], "mean": [3.525], "std": [2.0495426319059575], "count": [142]}, "frame_index": {"min": [0], "max": [141], "mean": [70.5], "std": [40.99085263811915], "count": [142]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [142]}, "index": {"min": [157], "max": [298], "mean": [227.5], "std": [40.99085263811915], "count": [142]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [142]}}}
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c72f0905ab0eba505b382901cf07574f064cbce1
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,201 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "piper",
+    "total_episodes": 2,
+    "total_frames": 299,
+    "total_tasks": 1,
+    "total_videos": 8,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:2"
+    },
+    "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.state": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ]
+        },
+        "observation.tactile_sdk_timestamp": {
+            "dtype": "float64",
+            "shape": [
+                2
+            ],
+            "names": [
+                "tactile_left",
+                "tactile_right"
+            ]
+        },
+        "observation.state.timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "seconds"
+            ]
+        },
+        "action.timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "seconds"
+            ]
+        },
+        "observation.images.wrist.timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "seconds"
+            ]
+        },
+        "observation.images.front.timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "seconds"
+            ]
+        },
+        "observation.images.tactile_left.timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "seconds"
+            ]
+        },
+        "observation.images.tactile_right.timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "seconds"
+            ]
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_left": {
+            "dtype": "video",
+            "shape": [
+                700,
+                400,
+                3
+            ],
+            "info": {
+                "video.height": 700,
+                "video.width": 400,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_right": {
+            "dtype": "video",
+            "shape": [
+                700,
+                400,
+                3
+            ],
+            "info": {
+                "video.height": 700,
+                "video.width": 400,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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/meta/modality.json b/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..06879ea93253089b957a0a21c35fde45c7fe45c9
--- /dev/null
+++ b/meta/modality.json
@@ -0,0 +1,41 @@
+{
+  "state": {
+    "single_arm": {
+      "start": 0,
+      "end": 6
+    },
+    "gripper": {
+      "start": 6,
+      "end": 7
+    }
+  },
+  "action": {
+    "single_arm": {
+      "start": 0,
+      "end": 6
+    },
+    "gripper": {
+      "start": 6,
+      "end": 7
+    }
+  },
+  "video": {
+    "front": {
+      "original_key": "observation.images.front"
+    },
+    "wrist": {
+      "original_key": "observation.images.wrist"
+    },
+    "tactile_left": {
+      "original_key": "observation.images.tactile_left"
+    },
+    "tactile_right": {
+      "original_key": "observation.images.tactile_right"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
\ No newline at end of file
diff --git a/meta/policy_action_contract.json b/meta/policy_action_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..d52b9fe0379a0868f9ebb63259a10eb0bb341e85
--- /dev/null
+++ b/meta/policy_action_contract.json
@@ -0,0 +1,52 @@
+{
+  "schema_version": 1,
+  "state_key": "observation.state",
+  "action_key": "action",
+  "action_dimension": 7,
+  "action_semantics": "absolute_joint_position_command",
+  "action_source": "post_mapping_post_limit_post_arbiter_robot_command",
+  "recording_order": "observe_t_then_issue_command_t",
+  "action_offset_steps": 0,
+  "state_units": [
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "mm"
+  ],
+  "action_units": [
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "rad",
+    "mm"
+  ],
+  "coordinate_frame": "paper1_robot_native_joint_space",
+  "recorder_fallback_allowed": false,
+  "schema_only": false,
+  "timestamp_contract": {
+    "lerobot_timestamp_source": "nominal_frame_index_over_fps",
+    "acquisition_timestamp_unit": "seconds",
+    "acquisition_timestamp_columns": {
+      "state": "observation.state.timestamp",
+      "action": "action.timestamp",
+      "cam0": "observation.images.wrist.timestamp",
+      "cam1": "observation.images.front.timestamp",
+      "tac0": "observation.images.tactile_left.timestamp",
+      "tac1": "observation.images.tactile_right.timestamp"
+    },
+    "maximum_cross_modal_skew_seconds": 0.05,
+    "acquisition_timestamps_are_measured": true,
+    "clock_domain": "linux_clock_monotonic_same_host"
+  },
+  "provenance": {
+    "robot": "piper_lab_02",
+    "recorder_commit": "a5ef8297a6209511e90df91fda2707f980090436",
+    "action_adapter": "so101_to_piper_post_mapping_limit_command_v1",
+    "calibration_id": "so101_piper_map_20260805"
+  }
+}
diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0634db41a2d09c44007e2cb9f6a4da5fb7c31b57
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick up the cup"}
diff --git a/meta/xense/baselines/episode_000000/manifest.json b/meta/xense/baselines/episode_000000/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac7c6bd27ee5418c27a6f77d2f0027c0276c77e0
--- /dev/null
+++ b/meta/xense/baselines/episode_000000/manifest.json
@@ -0,0 +1,115 @@
+{
+  "episode_index": 0,
+  "timestamp_order": [
+    "tactile_left",
+    "tactile_right"
+  ],
+  "sensors": {
+    "tactile_left": {
+      "serial": "OG000692",
+      "frame_count": 20,
+      "sdk_timestamps": [
+        1786526328.9714427,
+        1786526328.9888227,
+        1786526329.0096498,
+        1786526329.0209475,
+        1786526329.031937,
+        1786526329.0536075,
+        1786526329.068115,
+        1786526329.0892682,
+        1786526329.1078024,
+        1786526329.124854,
+        1786526329.1462588,
+        1786526329.1626978,
+        1786526329.1770666,
+        1786526329.1999896,
+        1786526329.2116745,
+        1786526329.2294302,
+        1786526329.2490706,
+        1786526329.2670481,
+        1786526329.279762,
+        1786526329.2982452
+      ],
+      "sequences": [
+        878,
+        879,
+        880,
+        881,
+        882,
+        883,
+        884,
+        885,
+        886,
+        887,
+        888,
+        889,
+        890,
+        891,
+        892,
+        893,
+        894,
+        895,
+        896,
+        897
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