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diff --git a/meta/episodes_stats.jsonl b/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..402d356e89144e2255e9381442870ed983b42056
--- /dev/null
+++ b/meta/episodes_stats.jsonl
@@ -0,0 +1,40 @@
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [587]}, "teleop.right_hand_joints": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [587]}, "teleop.smpl_frame_index": {"min": [43340], "max": [43931], "mean": [43635.21465076661], "std": [170.74221657604346], "count": [587]}, "teleop.left_wrist_joints": {"min": [-0.20746921002864838, -0.1317591369152069, -0.015691431239247322], "max": [0.1975271850824356, -0.033039696514606476, 0.13041412830352783], "mean": [0.0737336203455925, -0.09412644803524017, 0.05115531384944916], "std": [0.13471826910972595, 0.02998310886323452, 0.04859841614961624], "count": [587]}, "teleop.right_wrist_joints": {"min": [-0.2254139631986618, -0.2217273712158203, -0.4594016373157501], "max": [0.07293045520782471, -0.047883957624435425, 0.053561363369226456], "mean": [-0.12849903106689453, -0.10607451945543289, 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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a731eb2af625e209b43bfc54b6c99331b5c8d5c6
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,408 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 40,
+    "total_frames": 21961,
+    "total_tasks": 1,
+    "total_videos": 40,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:40"
+    },
+    "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.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                23
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action.wbc": {
+            "dtype": "float64",
+            "shape": [
+                23
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint"
+            ]
+        },
+        "observation.root_orientation": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "base_qw",
+                "base_qx",
+                "base_qy",
+                "base_qz"
+            ]
+        },
+        "observation.projected_gravity": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "gravity_x",
+                "gravity_y",
+                "gravity_z"
+            ]
+        },
+        "observation.cpp_rotation_offset": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "rot_offset_qw",
+                "rot_offset_qx",
+                "rot_offset_qy",
+                "rot_offset_qz"
+            ]
+        },
+        "observation.init_base_quat": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "init_base_qw",
+                "init_base_qx",
+                "init_base_qy",
+                "init_base_qz"
+            ]
+        },
+        "teleop.delta_heading": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "delta_heading"
+            ]
+        },
+        "action.motion_token": {
+            "dtype": "float64",
+            "shape": [
+                64
+            ],
+            "names": "motion_token"
+        },
+        "teleop.smpl_joints": {
+            "dtype": "float32",
+            "shape": [
+                72
+            ],
+            "names": "smpl_joints"
+        },
+        "teleop.smpl_pose": {
+            "dtype": "float32",
+            "shape": [
+                63
+            ],
+            "names": "smpl_pose"
+        },
+        "teleop.body_quat_w": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": "body_quat_w"
+        },
+        "teleop.target_body_orientation": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "target_body_r00",
+                "target_body_r10",
+                "target_body_r01",
+                "target_body_r11",
+                "target_body_r02",
+                "target_body_r12"
+            ]
+        },
+        "teleop.left_hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": "left_hand_joints"
+        },
+        "teleop.right_hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": "right_hand_joints"
+        },
+        "teleop.smpl_frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "smpl_frame_index"
+            ]
+        },
+        "teleop.left_wrist_joints": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "left_wrist_roll",
+                "left_wrist_pitch",
+                "left_wrist_yaw"
+            ]
+        },
+        "teleop.right_wrist_joints": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "right_wrist_roll",
+                "right_wrist_pitch",
+                "right_wrist_yaw"
+            ]
+        },
+        "teleop.stream_mode": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "stream_mode"
+            ]
+        },
+        "teleop.planner_mode": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "locomotion_mode"
+            ]
+        },
+        "teleop.planner_movement": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "movement_x",
+                "movement_y",
+                "movement_z"
+            ]
+        },
+        "teleop.planner_facing": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "facing_x",
+                "facing_y",
+                "facing_z"
+            ]
+        },
+        "teleop.planner_speed": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "speed"
+            ]
+        },
+        "teleop.planner_height": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "height"
+            ]
+        },
+        "teleop.vr_3pt_position": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "lwrist_x",
+                "lwrist_y",
+                "lwrist_z",
+                "rwrist_x",
+                "rwrist_y",
+                "rwrist_z",
+                "neck_x",
+                "neck_y",
+                "neck_z"
+            ]
+        },
+        "teleop.vr_3pt_orientation": {
+            "dtype": "float32",
+            "shape": [
+                18
+            ],
+            "names": [
+                "lwrist_r00",
+                "lwrist_r10",
+                "lwrist_r01",
+                "lwrist_r11",
+                "lwrist_r02",
+                "lwrist_r12",
+                "rwrist_r00",
+                "rwrist_r10",
+                "rwrist_r01",
+                "rwrist_r11",
+                "rwrist_r02",
+                "rwrist_r12",
+                "neck_r00",
+                "neck_r10",
+                "neck_r01",
+                "neck_r11",
+                "neck_r02",
+                "neck_r12"
+            ]
+        },
+        "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
+        }
+    },
+    "script_config": {
+        "control_frequency": 50.0,
+        "encoder_file": "policy/g1_23dof/model_encoder.onnx",
+        "is_using_encoder": true,
+        "model_path": "policy/g1_23dof/model_decoder.onnx",
+        "obs_config_path": "policy/g1_23dof/observation_config.yaml",
+        "planner_fp16": false,
+        "planner_frequency": 10.0,
+        "planner_path": "planner/target_vel/V2/planner_sonic.onnx",
+        "policy_fp16": false,
+        "reference_motion_path": "reference/example/",
+        "record_wrist_cameras": false
+    },
+    "discarded_episode_indices": []
+}
\ No newline at end of file
diff --git a/meta/modality.json b/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ba8dcf8878dba803bd09af6f1b18ab0dd5541a9
--- /dev/null
+++ b/meta/modality.json
@@ -0,0 +1,174 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 13
+        },
+        "left_arm": {
+            "start": 13,
+            "end": 18
+        },
+        "right_arm": {
+            "start": 18,
+            "end": 23
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
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