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diff --git a/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/annotations.jsonl b/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa08a7ba811b8625005ed02ba2d0183bdf2c10e8
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,76 @@
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+    "total_episodes": 76,
+    "total_frames": 28599,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:76"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "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/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/modality.json b/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/stats.json b/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..aebed18321af0a5aad18ea42681a0547a4acbe6f
--- /dev/null
+++ b/remove_block_from_box/season_POC22018_2026_05_01_14_06_37_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+    "observation.images.tactile_raw": {
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diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/annotations.jsonl b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc29caa897d9f7914e4ceed4c52fa6a5b43bf7ca
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,103 @@
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diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/episodes.jsonl b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74ee54b9e1d4d1241afab79b13447ff4422e194e
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,103 @@
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+{"episode_index": 2, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 400}
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+{"episode_index": 9, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 357}
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+{"episode_index": 29, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 386}
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+{"episode_index": 31, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 344}
+{"episode_index": 32, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 343}
+{"episode_index": 33, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 416}
+{"episode_index": 34, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 355}
+{"episode_index": 35, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 352}
+{"episode_index": 36, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 367}
+{"episode_index": 37, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 414}
+{"episode_index": 38, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 410}
+{"episode_index": 39, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 370}
+{"episode_index": 40, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 357}
+{"episode_index": 41, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 350}
+{"episode_index": 42, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 418}
+{"episode_index": 43, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 342}
+{"episode_index": 44, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 370}
+{"episode_index": 45, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 358}
+{"episode_index": 46, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 367}
+{"episode_index": 47, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 352}
+{"episode_index": 48, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 348}
+{"episode_index": 49, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 381}
+{"episode_index": 50, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 375}
+{"episode_index": 51, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 398}
+{"episode_index": 52, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 376}
+{"episode_index": 53, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 348}
+{"episode_index": 54, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 344}
+{"episode_index": 55, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 367}
+{"episode_index": 56, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 359}
+{"episode_index": 57, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 317}
+{"episode_index": 58, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 333}
+{"episode_index": 59, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 400}
+{"episode_index": 60, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 330}
+{"episode_index": 61, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 414}
+{"episode_index": 62, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 445}
+{"episode_index": 63, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 394}
+{"episode_index": 64, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 324}
+{"episode_index": 65, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 373}
+{"episode_index": 66, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 373}
+{"episode_index": 67, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 329}
+{"episode_index": 68, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 326}
+{"episode_index": 69, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 448}
+{"episode_index": 70, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 432}
+{"episode_index": 71, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 377}
+{"episode_index": 72, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 353}
+{"episode_index": 73, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 355}
+{"episode_index": 74, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 371}
+{"episode_index": 75, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 322}
+{"episode_index": 76, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 325}
+{"episode_index": 77, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 331}
+{"episode_index": 78, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 368}
+{"episode_index": 79, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 411}
+{"episode_index": 80, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 364}
+{"episode_index": 81, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 384}
+{"episode_index": 82, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 348}
+{"episode_index": 83, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 362}
+{"episode_index": 84, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 366}
+{"episode_index": 85, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 333}
+{"episode_index": 86, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 360}
+{"episode_index": 87, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 344}
+{"episode_index": 88, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 349}
+{"episode_index": 89, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 347}
+{"episode_index": 90, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 348}
+{"episode_index": 91, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 364}
+{"episode_index": 92, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 326}
+{"episode_index": 93, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 369}
+{"episode_index": 94, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 374}
+{"episode_index": 95, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 345}
+{"episode_index": 96, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 375}
+{"episode_index": 97, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 345}
+{"episode_index": 98, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 337}
+{"episode_index": 99, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 356}
+{"episode_index": 100, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 339}
+{"episode_index": 101, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 341}
+{"episode_index": 102, "tasks": ["Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."], "length": 408}
diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1f807dc2f3d76a1f172403b98354dab85e5f736
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,103 @@
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diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/info.json b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8a8e8b391ba9a8b0e21ae954e3f450e85518f4f
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "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/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/modality.json b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/subtasks.jsonl b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6faca9eaa93356e16239e66df0be854a4ad0cf3b
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the fallen cup. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Rotate the cup to an upright orientation. | Skill: rotate"}
+{"subtask_index": 2, "subtask": "Place the grasped cup upright. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."}
diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/tasks.jsonl b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0142a58eb3639aacce5201692cac26171409c546
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Upright the Fallen Cup | Instruction: Pick up the fallen cup, rotate the cup to an upright orientation, place the grasped cup upright. | Scene: A table with a fallen cup placed at a random position. | Success: The cup is placed upright on the table."}
diff --git a/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/v40_validation.json b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..038256b76c6f0bf79891d9ef6a2a7f869930897a
--- /dev/null
+++ b/reorient_cup_upright/season_POC22018_2026_04_30_14_04_22_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 103,
+  "frames": 37533,
+  "video_frames": {
+    "observation.images.head_left": 37533,
+    "observation.images.wrist_left": 37533,
+    "observation.images.wrist_right": 37533,
+    "observation.images.head_right": 37533,
+    "observation.images.tactile_deform": 37533,
+    "observation.images.tactile_raw": 37533
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 103
+}
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