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+{"source_uid": "abc338fb38895229", "num_frames": 1348, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/annotations.jsonl b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05a0752eef9ba9bcc9e559f8c956cb479f63f8bd
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,24 @@
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Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 298, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 398, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 560, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 685, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 874, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 1005, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1184, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 298, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 398, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 560, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 685, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 874, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 1005, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1184, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22061_2026_05_22_16_47_57_train/POC22061_2026_05_22_17_14_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "3404e6e965298eb0", "num_frames": 1479, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 332, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 421, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 618, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 752, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 753, "end_step": 910, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1115, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1116, "end_step": 1318, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 332, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 421, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 618, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 752, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 753, "end_step": 910, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1115, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1116, "end_step": 1318, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22061_2026_05_22_16_47_57_train/POC22061_2026_05_22_17_15_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/episodes.jsonl b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0267526e1dde6f8c4d6fc1d3e825e7e9e82e461
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,24 @@
+{"episode_index": 0, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 2033}
+{"episode_index": 1, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1428}
+{"episode_index": 2, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1596}
+{"episode_index": 3, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1747}
+{"episode_index": 4, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1539}
+{"episode_index": 5, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1598}
+{"episode_index": 6, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1481}
+{"episode_index": 7, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1489}
+{"episode_index": 8, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1708}
+{"episode_index": 9, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1295}
+{"episode_index": 10, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1583}
+{"episode_index": 11, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1751}
+{"episode_index": 12, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1538}
+{"episode_index": 13, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1314}
+{"episode_index": 14, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1452}
+{"episode_index": 15, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1339}
+{"episode_index": 16, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1312}
+{"episode_index": 17, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1487}
+{"episode_index": 18, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1404}
+{"episode_index": 19, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1955}
+{"episode_index": 20, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1395}
+{"episode_index": 21, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1698}
+{"episode_index": 22, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1348}
+{"episode_index": 23, "tasks": ["Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."], "length": 1479}
diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/episodes_stats.jsonl b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76e8cff3f7d9c3fff20bb0d2239d80249dfa849d
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,24 @@
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"episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1479]}, "index": {"min": [35490], "max": [36968], "mean": [36229.0], "std": [426.9504264743937], "count": [1479]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1479]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31339746713638306]], [[0.31021174788475037]], [[0.30850961804389954]]], "std": [[[0.3365204930305481]], [[0.3334651589393616]], [[0.3326858580112457]]], "count": [1479]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2947213053703308]], [[0.289817214012146]], [[0.28651997447013855]]], "std": [[[0.18691356480121613]], [[0.18679043650627136]], [[0.18411877751350403]]], "count": [1479]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2913486957550049]], [[0.2732751965522766]], [[0.2661307752132416]]], "std": [[[0.18280059099197388]], [[0.17141596972942352]], [[0.16727833449840546]]], "count": [1479]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3317129611968994]], [[0.3278411328792572]], [[0.3262929320335388]]], "std": [[[0.3306790888309479]], [[0.32662954926490784]], [[0.32602038979530334]]], "count": [1479]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5803921818733215]], [[0.5803921818733215]], [[0.5803921818733215]]], "mean": [[[0.005295438226312399]], [[0.005295438226312399]], [[0.005295438226312399]]], "std": [[[0.04366210848093033]], [[0.04366210848093033]], [[0.04366210848093033]]], "count": [1479]}, "observation.images.tactile_raw": {"min": [[[0.08627451211214066]], [[0.08627451211214066]], [[0.08627451211214066]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5115918517112732]], [[0.5115918517112732]], [[0.5115918517112732]]], "std": [[[0.2168600708246231]], [[0.2168600708246231]], [[0.2168600708246231]]], "count": [1479]}}}
diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/info.json b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd56b61ebe5813d36284c12b133ca2cf1c478fa0
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 24,
+    "total_frames": 36969,
+    "total_tasks": 1,
+    "total_videos": 144,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:24"
+    },
+    "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": [
+                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/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/modality.json b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_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": {
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+    "human.action.task_description": {
+      "original_key": "task_index"
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diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/subtasks.jsonl b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Pick up the first cup from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Insert the first cup onto the base cup. | Skill: insert"}
+{"subtask_index": 2, "subtask": "Pick up the second cup from the table. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Insert the second cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 4, "subtask": "Pick up the third cup from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Insert the third cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 6, "subtask": "Pick up the fourth cup from the table. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Insert the fourth cup onto the stacked cups. | Skill: insert"}
+{"subtask_index": 8, "subtask": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."}
diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/tasks.jsonl b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table."}
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+{
+  "status": "passed",
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+  "frames": 36969,
+  "video_frames": {
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+    "observation.images.wrist_left": 36969,
+    "observation.images.wrist_right": 36969,
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+    "observation.images.tactile_raw": 36969
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 24
+}
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diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/annotations.jsonl b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05a0752eef9ba9bcc9e559f8c956cb479f63f8bd
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,24 @@
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+                "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",
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+                "left_arm_tcp_pose_1",
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+                "right_arm_tcp_pose_3",
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+}
\ No newline at end of file
diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/modality.json b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+  "annotation": {
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+      "absolute": true,
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+      "dtype": "float32",
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+  }
+}
diff --git a/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/stats.json b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a2e8ff83f79ef34b7a5a729f2839f86cd0c2529
--- /dev/null
+++ b/nest_cups/season_POC22061_2026_05_22_16_47_57_train/lerobot_v3.0/meta/stats.json
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"subtasks", "start_step": 1786, "end_step": 1855, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1856, "end_step": 2010, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2011, "end_step": 2065, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2066, "end_step": 3045, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 200, "id": "subtask-001", "text": "Open 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"start_step": 811, "end_step": 1032, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1104, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1314, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1434, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1668, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2298, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2299, "end_step": 3378, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"end_step": 2107, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2108, "end_step": 3127, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 679, "end_step": 1026, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1110, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1242, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1386, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1536, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 1862, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1863, "end_step": 2897, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 797, "end_step": 996, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1066, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1231, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1232, "end_step": 1311, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1461, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 711, "end_step": 1085, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1150, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1330, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1331, "end_step": 1410, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1575, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"start_step": 851, "end_step": 1120, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1195, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1196, "end_step": 1345, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1346, "end_step": 1425, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1555, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2391, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2392, "end_step": 4021, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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595, "end_step": 729, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 794, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 795, "end_step": 924, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 989, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 990, "end_step": 1319, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1395, "end_step": 1564, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1565, "end_step": 1619, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1620, "end_step": 1774, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1775, "end_step": 1844, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1845, "end_step": 3064, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "a617c12e48007d4d", "num_frames": 3118, "episode_id": "POC22065_2026_06_12_16_16_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_12_14_29_03_train/POC22065_2026_06_12_16_16_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_12_14_29_03_train/POC22065_2026_06_12_16_16_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_12_14_29_03_train/POC22065_2026_06_12_16_16_29_train/train_0.3.0@2026_06_12_16_16_29.hdf5", "tags": {"task_name": "Pack_Blueberries", "task_instruction": "Open the fruit storage bag with the right hand. 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"subtasks", "start_step": 1721, "end_step": 1795, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1796, "end_step": 1905, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1906, "end_step": 1995, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1996, "end_step": 2960, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Open 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"start_step": 566, "end_step": 715, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 716, "end_step": 775, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 1020, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1150, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1315, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1995, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1996, "end_step": 2960, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/annotations.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf85657e26f267734799144fa8cec6f88193b163
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,18 @@
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"start_step": 914, "end_step": 1099, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1183, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1184, "end_step": 1333, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1334, "end_step": 1399, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1400, "end_step": 1567, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2107, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2108, "end_step": 3127, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 582, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 678, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 1026, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1110, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1242, "id": "subtask-008", "text": "Pick up the 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"end_step": 2178, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2179, "end_step": 3048, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 627, "end_step": 758, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 759, "end_step": 830, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 1166, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1167, "end_step": 1268, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1269, "end_step": 1436, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 667, "end_step": 1026, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1110, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1260, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1261, "end_step": 1338, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1476, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2250, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2251, "end_step": 3786, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 655, "end_step": 840, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 906, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1098, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1362, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"end_step": 2030, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2031, "end_step": 2920, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 668, "end_step": 832, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 912, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1067, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1068, "end_step": 1137, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1362, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 904, "end_step": 1214, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1290, "end_step": 1444, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1445, "end_step": 1509, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1674, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2159, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2160, "end_step": 3674, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 922, "end_step": 1086, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1156, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1321, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1322, "end_step": 1396, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1536, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 510, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 565, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 715, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 716, "end_step": 775, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 1020, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1150, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1315, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1375, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1376, "end_step": 1720, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1721, "end_step": 1795, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1796, "end_step": 1905, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1906, "end_step": 1995, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1996, "end_step": 2960, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Open the fruit storage bag with the right hand. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 285, "id": "subtask-002", "text": "Pick up the first blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 380, "id": "subtask-003", "text": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 510, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 565, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 715, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 716, "end_step": 775, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 1020, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1150, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1315, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1375, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1376, "end_step": 1720, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1721, "end_step": 1795, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1796, "end_step": 1905, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1906, "end_step": 1995, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1996, "end_step": 2960, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/episodes.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c2cbf3380e4de7f8d9162a3e30599ce1a0adab6
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,18 @@
+{"episode_index": 0, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3210}
+{"episode_index": 1, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3073}
+{"episode_index": 2, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3537}
+{"episode_index": 3, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3292}
+{"episode_index": 4, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3209}
+{"episode_index": 5, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3107}
+{"episode_index": 6, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3947}
+{"episode_index": 7, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 2941}
+{"episode_index": 8, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3063}
+{"episode_index": 9, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3172}
+{"episode_index": 10, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3337}
+{"episode_index": 11, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3077}
+{"episode_index": 12, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 2928}
+{"episode_index": 13, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3836}
+{"episode_index": 14, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 4186}
+{"episode_index": 15, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3399}
+{"episode_index": 16, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3227}
+{"episode_index": 17, "tasks": ["Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."], "length": 3118}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/episodes_stats.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1506f2ecdb383a969f8d4a8b34663b409d9051c6
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,18 @@
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diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/info.json b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83e0933c6b8fb3d6b6eefd22c97e249079c0f75
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/modality.json b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_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/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/subtasks.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59b9daab7cbad1ad9a90620287ff4c3cde49bd19
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,17 @@
+{"subtask_index": 0, "subtask": "Open the fruit storage bag with the right hand. | Skill: open"}
+{"subtask_index": 1, "subtask": "Pick up the first blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the second blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 5, "subtask": "Pick up the third blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 6, "subtask": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 9, "subtask": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 10, "subtask": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 11, "subtask": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 12, "subtask": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 13, "subtask": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick"}
+{"subtask_index": 14, "subtask": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place"}
+{"subtask_index": 15, "subtask": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close"}
+{"subtask_index": 16, "subtask": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/tasks.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a913eb839576424f2637890cca1aab83141b7316
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task."}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/v40_validation.json b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8840c1c1e238f6ddd128b957b429b8ea1e5f1c1
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_12_14_29_03_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 18,
+  "frames": 59659,
+  "video_frames": {
+    "observation.images.head_left": 59659,
+    "observation.images.wrist_left": 59659,
+    "observation.images.wrist_right": 59659,
+    "observation.images.head_right": 59659,
+    "observation.images.tactile_deform": 59659,
+    "observation.images.tactile_raw": 59659
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 18
+}
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