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diff --git a/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/annotations.jsonl b/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..32b2581c463a3cd665da794f8f764047e47d07f8
--- /dev/null
+++ b/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,115 @@
+{"source_uid": "e5b1dabfd0a07058", "num_frames": 3545, "episode_id": "POC22027_2026_05_24_16_17_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tape_Up_Box/season_POC22027_2026_05_24_16_17_24_train/POC22027_2026_05_24_16_17_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tape_Up_Box/season_POC22027_2026_05_24_16_17_24_train/POC22027_2026_05_24_16_17_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tape_Up_Box/season_POC22027_2026_05_24_16_17_24_train/POC22027_2026_05_24_16_17_24_train/train_0.3.0@2026_05_24_16_17_24.hdf5", "tags": {"task_name": "Seal_Box_with_Tape_Dispenser", "task_instruction": "Pick up the tape dispenser with the left hand. Stabilize one side of the box with the right hand. Pull out the tape with the left hand and apply it onto the box. Then smooth the tape once along its path with the right hand. Cut the tape with the tape dispenser using the left hand. Finally, adjust the box with both hands.", "scene_description": "A paper box and a tape dispenser with a cutter are placed on the table. The robot needs to hold the box, apply tape along the box opening, smooth the tape, cut it, and then adjust the box.", "success_criteria": "The tape is correctly attached to the box, smoothed flat along the sealing path, cleanly cut, and the box remains stable after final adjustment.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 497, "id": "subtask-001", "text": "Pick up the tape dispenser with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 773, "id": "subtask-002", "text": "Stabilize one side of the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 774, "end_step": 1423, "id": "subtask-003", "text": "Pull out the tape and apply it onto the box with the left hand. | Skill: draw", "task_skill": "draw", "atomic_action": []}, {"label": "subtasks", "start_step": 1424, "end_step": 1681, "id": "subtask-004", "text": "Smooth the tape once along the sealing path with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 1682, "end_step": 3063, "id": "subtask-005", "text": "Cut the tape with the cutter on the tape dispenser using the left hand. | Skill: cut", "task_skill": "cut", "atomic_action": []}, {"label": "subtasks", "start_step": 3064, "end_step": 3379, "id": "subtask-006", "text": "Adjust the box with both hands. | Skill: adjust", "task_skill": "adjust", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 497, "id": "subtask-001", "text": "Pick up the tape dispenser with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 773, "id": "subtask-002", "text": "Stabilize one side of the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 774, "end_step": 1423, "id": "subtask-003", "text": "Pull out the tape and apply it onto the box with the left hand. | Skill: draw", "task_skill": "draw", "atomic_action": []}, {"label": "subtasks", "start_step": 1424, "end_step": 1681, "id": "subtask-004", "text": "Smooth the tape once along the sealing path with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 1682, "end_step": 3063, "id": "subtask-005", "text": "Cut the tape with the cutter on the tape dispenser using the left hand. | Skill: cut", "task_skill": "cut", "atomic_action": []}, {"label": "subtasks", "start_step": 3064, "end_step": 3379, "id": "subtask-006", "text": "Adjust the box with both hands. | Skill: adjust", "task_skill": "adjust", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Seal_Box_with_Tape_Dispenser | Instruction: Pick up the tape dispenser with the left hand. Stabilize one side of the box with the right hand. Pull out the tape with the left hand and apply it onto the box. Then smooth the tape once along its path with the right hand. Cut the tape with the tape dispenser using the left hand. Finally, adjust the box with both hands. | Scene: A paper box and a tape dispenser with a cutter are placed on the table. The robot needs to hold the box, apply tape along the box opening, smooth the tape, cut it, and then adjust the box. | Success: The tape is correctly attached to the box, smoothed flat along the sealing path, cleanly cut, and the box remains stable after final adjustment.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "698608fd063fdd0d", "num_frames": 3599, "episode_id": "POC22027_2026_05_24_16_21_06_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tape_Up_Box/season_POC22027_2026_05_24_16_17_24_train/POC22027_2026_05_24_16_21_06_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tape_Up_Box/season_POC22027_2026_05_24_16_17_24_train/POC22027_2026_05_24_16_21_06_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Tape_Up_Box/season_POC22027_2026_05_24_16_17_24_train/POC22027_2026_05_24_16_21_06_train/train_0.3.0@2026_05_24_16_21_06.hdf5", "tags": {"task_name": "Seal_Box_with_Tape_Dispenser", "task_instruction": "Pick up the tape dispenser with the left hand. Stabilize one side of the box with the right hand. Pull out the tape with the left hand and apply it onto the box. Then smooth the tape once along its path with the right hand. Cut the tape with the tape dispenser using the left hand. 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+                "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/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/modality.json b/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "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/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/stats.json b/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..56191c1e936d1fa64832ac1dc292a148a7301090
--- /dev/null
+++ b/seal_box_with_tape/season_POC22027_2026_05_24_16_17_24_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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