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+{"source_uid": "dd992ac24641a75d", "num_frames": 1148, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 634, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 828, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 966, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 634, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 828, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 966, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_15_03_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+{"source_uid": "3e53eab7a593c259", "num_frames": 959, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 357, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 358, "end_step": 515, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 680, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 777, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 357, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 358, "end_step": 515, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 680, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 777, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_15_08_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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+{"source_uid": "57207ea6181b7a20", "num_frames": 738, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 291, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 435, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 546, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 291, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 435, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 546, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_19_58_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 152, "v40_language_source": "previous_published_lerobot", "episode_index": 152}
+{"source_uid": "0db1d927838e6826", "num_frames": 727, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 270, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 441, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 537, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 270, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 441, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 537, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_19_58_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 153, "v40_language_source": "previous_published_lerobot", "episode_index": 153}
+{"source_uid": "b23e87a3a4878363", "num_frames": 719, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 279, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 393, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 543, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 279, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 393, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 543, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_19_58_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 154, "v40_language_source": "previous_published_lerobot", "episode_index": 154}
+{"source_uid": "348e55239c802df4", "num_frames": 645, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 147, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 255, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 375, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 376, "end_step": 459, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 147, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 255, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 375, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 376, "end_step": 459, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_19_59_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 155, "v40_language_source": "previous_published_lerobot", "episode_index": 155}
diff --git a/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/annotations.jsonl b/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0dbb5defebcf8aa1bdd78061a4654d89a63f7cb3
--- /dev/null
+++ b/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,156 @@
+{"source_uid": "dd992ac24641a75d", "num_frames": 1148, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Napkin Stacking and Placement | Instruction: Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder. | Scene: Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right. | Success: The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "tags": {"task_name": "Napkin Stacking and Placement", "task_instruction": "Pick up the left stack of napkins with the left hand and place it onto the napkin stack on the right. Then pick up the stacked napkins from the table with the right hand and place them into the napkin holder.", "scene_description": "Two stacks of napkins and a napkin holder are placed on the table. One stack is on the left and one stack is on the right.", "success_criteria": "The two napkin stacks are combined into one stack and the combined napkin stack is stably placed in the napkin holder.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 634, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 828, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 966, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 262, "id": "subtask-001", "text": "Pick up the left stack of napkins from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 634, "id": "subtask-002", "text": "Place the left stack of napkins onto the napkin stack on the right with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 828, "id": "subtask-003", "text": "Pick up the stacked napkins from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 966, "id": "subtask-004", "text": "Place the stacked napkins into the napkin holder with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Napkin_Stacking/season_POC22032_2026_05_03_15_03_53_train/POC22032_2026_05_03_15_03_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+                "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": {
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+                "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": {
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+            "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
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/modality.json b/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_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": {
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+      "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/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/stats.json b/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb63ea87fa6feee50d7a0993de923f34ef6f022
--- /dev/null
+++ b/stack_napkins_in_holder/season_POC22032_2026_05_03_15_03_53_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/annotations.jsonl b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70f133b08ebeb35fc861482f26091e02c7ba8ed1
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,124 @@
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/episodes.jsonl b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a4de3773b8b223ba2739c78930900491f7d3833b
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,124 @@
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+{"episode_index": 2, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 387}
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+{"episode_index": 55, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 398}
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+{"episode_index": 59, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 400}
+{"episode_index": 60, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 376}
+{"episode_index": 61, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 399}
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+{"episode_index": 65, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 383}
+{"episode_index": 66, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 393}
+{"episode_index": 67, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 363}
+{"episode_index": 68, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 371}
+{"episode_index": 69, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 360}
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+{"episode_index": 74, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 410}
+{"episode_index": 75, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 432}
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+{"episode_index": 77, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 380}
+{"episode_index": 78, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 364}
+{"episode_index": 79, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 390}
+{"episode_index": 80, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 392}
+{"episode_index": 81, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 388}
+{"episode_index": 82, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 362}
+{"episode_index": 83, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 325}
+{"episode_index": 84, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 356}
+{"episode_index": 85, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 370}
+{"episode_index": 86, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 376}
+{"episode_index": 87, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 384}
+{"episode_index": 88, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 360}
+{"episode_index": 89, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 380}
+{"episode_index": 90, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 304}
+{"episode_index": 91, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 344}
+{"episode_index": 92, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 392}
+{"episode_index": 93, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 442}
+{"episode_index": 94, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 408}
+{"episode_index": 95, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 413}
+{"episode_index": 96, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 423}
+{"episode_index": 97, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 412}
+{"episode_index": 98, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 379}
+{"episode_index": 99, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 373}
+{"episode_index": 100, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 376}
+{"episode_index": 101, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 347}
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+{"episode_index": 103, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 375}
+{"episode_index": 104, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 388}
+{"episode_index": 105, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 433}
+{"episode_index": 106, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 403}
+{"episode_index": 107, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 411}
+{"episode_index": 108, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 395}
+{"episode_index": 109, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 380}
+{"episode_index": 110, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 394}
+{"episode_index": 111, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 394}
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+{"episode_index": 113, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 385}
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+{"episode_index": 116, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 381}
+{"episode_index": 117, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 366}
+{"episode_index": 118, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 377}
+{"episode_index": 119, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 381}
+{"episode_index": 120, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 382}
+{"episode_index": 121, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 344}
+{"episode_index": 122, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 366}
+{"episode_index": 123, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 391}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/episodes_stats.jsonl b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acaa649b1595140e46a2f7bfc4e57e5dcb90473e
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,124 @@
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/info.json b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0c053cfc7705404b3883192cf2a1f2937699c53
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/modality.json b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_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/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/subtasks.jsonl b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f106c67d3b39cc2cc7d13cc431b70bc70fb7dca6
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the yellow plate. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the yellow plate above the pink plate. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the yellow plate on top of the pink plate. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/tasks.jsonl b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d86083da5467ddef198bebe214c1a478615eaff2
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/v40_validation.json b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03a583a586f33491b42229fdee98cb1ae38a219
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_14_10_27_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 124,
+  "frames": 48147,
+  "video_frames": {
+    "observation.images.head_left": 48147,
+    "observation.images.wrist_left": 48147,
+    "observation.images.wrist_right": 48147,
+    "observation.images.head_right": 48147,
+    "observation.images.tactile_deform": 48147,
+    "observation.images.tactile_raw": 48147
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 124
+}
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