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diff --git a/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/annotations.jsonl b/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3b4cc7e34f26b8f6e2b4d63fb7ba10e9e7b730a
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,70 @@
+{"source_uid": "9a3166aa6c3e1f09", "num_frames": 864, "episode_id": "POC22027_2026_06_10_19_07_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_10_19_07_29_train/POC22027_2026_06_10_19_07_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_10_19_07_29_train/POC22027_2026_06_10_19_07_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Insert_Battery/season_POC22027_2026_06_10_19_07_29_train/POC22027_2026_06_10_19_07_29_train/train_0.3.0@2026_06_10_19_07_29.hdf5", "tags": {"task_name": "Insert_Battery", "task_instruction": "Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment.", "scene_description": "A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence.", "success_criteria": "The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 354, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 504, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 654, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the large battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 354, "id": "subtask-002", "text": "Insert the large battery into the large battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 504, "id": "subtask-003", "text": "Pick up the small battery from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 654, "id": "subtask-004", "text": "Insert the small battery into the small battery compartment with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Insert_Battery | Instruction: Pick up the large battery with the right hand and insert it into the large battery compartment. Then pick up the small battery with the right hand and insert it into the small battery compartment. | Scene: A large battery, a small battery, and a device with corresponding large and small battery compartments are placed on the table. The robot needs to insert the two batteries into their matching compartments in sequence. | Success: The large battery is fully inserted into the large battery compartment, and the small battery is fully inserted into the small battery compartment with the correct orientation.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_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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+                "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": {
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+            "shape": [
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+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+                3
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+                "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": [
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+                1200,
+                3
+            ],
+            "names": [
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+        "observation.images.tactile_raw": {
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+            "names": null
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+        "episode_index": {
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+        "index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/modality.json b/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
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+  "state": {
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+      "absolute": true,
+      "dtype": "float32",
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+  "action": {
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/stats.json b/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a72db8ab2310c6b18bb361810844e2fa2dd48d9
--- /dev/null
+++ b/insert_batteries_into_device/season_POC22027_2026_06_10_19_07_29_train/lerobot_v3.0/meta/stats.json
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diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/annotations.jsonl b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b02a0fcb78736903cec850339b49035f5ccdf2d
--- /dev/null
+++ b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,68 @@
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diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/episodes.jsonl b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b2ae0270cbda7f2b859bc0b4aa448578a81bbc8
--- /dev/null
+++ b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,68 @@
+{"episode_index": 0, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 566}
+{"episode_index": 1, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 601}
+{"episode_index": 2, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 504}
+{"episode_index": 3, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 535}
+{"episode_index": 4, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 522}
+{"episode_index": 5, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 584}
+{"episode_index": 6, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 514}
+{"episode_index": 7, "tasks": ["Task: insert_knife_cutlerybin"], "length": 594}
+{"episode_index": 8, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 532}
+{"episode_index": 9, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 623}
+{"episode_index": 10, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 548}
+{"episode_index": 11, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 530}
+{"episode_index": 12, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 543}
+{"episode_index": 13, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 545}
+{"episode_index": 14, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 527}
+{"episode_index": 15, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 561}
+{"episode_index": 16, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 528}
+{"episode_index": 17, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 628}
+{"episode_index": 18, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 518}
+{"episode_index": 19, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 558}
+{"episode_index": 20, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 581}
+{"episode_index": 21, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 551}
+{"episode_index": 22, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 532}
+{"episode_index": 23, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 541}
+{"episode_index": 24, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 583}
+{"episode_index": 25, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 595}
+{"episode_index": 26, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 589}
+{"episode_index": 27, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 589}
+{"episode_index": 28, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 552}
+{"episode_index": 29, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 584}
+{"episode_index": 30, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 567}
+{"episode_index": 31, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 601}
+{"episode_index": 32, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 523}
+{"episode_index": 33, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 584}
+{"episode_index": 34, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 584}
+{"episode_index": 35, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 528}
+{"episode_index": 36, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 481}
+{"episode_index": 37, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 574}
+{"episode_index": 38, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 464}
+{"episode_index": 39, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 498}
+{"episode_index": 40, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 497}
+{"episode_index": 41, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 484}
+{"episode_index": 42, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 511}
+{"episode_index": 43, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 500}
+{"episode_index": 44, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 519}
+{"episode_index": 45, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 510}
+{"episode_index": 46, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 569}
+{"episode_index": 47, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 543}
+{"episode_index": 48, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 427}
+{"episode_index": 49, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 479}
+{"episode_index": 50, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 479}
+{"episode_index": 51, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 436}
+{"episode_index": 52, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 448}
+{"episode_index": 53, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 458}
+{"episode_index": 54, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 514}
+{"episode_index": 55, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 572}
+{"episode_index": 56, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 516}
+{"episode_index": 57, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 505}
+{"episode_index": 58, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 619}
+{"episode_index": 59, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 450}
+{"episode_index": 60, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 506}
+{"episode_index": 61, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 476}
+{"episode_index": 62, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 508}
+{"episode_index": 63, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 595}
+{"episode_index": 64, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 458}
+{"episode_index": 65, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 492}
+{"episode_index": 66, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 456}
+{"episode_index": 67, "tasks": ["Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."], "length": 456}
diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/episodes_stats.jsonl b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f0149ea21e31500ecd4b36064ed3c68545438354
--- /dev/null
+++ b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/episodes_stats.jsonl
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[[0.23476089537143707]]], "count": [456]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2951655387878418]], [[0.2995370328426361]], [[0.3017386198043823]]], "std": [[[0.16571596264839172]], [[0.16874295473098755]], [[0.16717107594013214]]], "count": [456]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3085421025753021]], [[0.30452680587768555]], [[0.301838755607605]]], "std": [[[0.17337697744369507]], [[0.17363858222961426]], [[0.17056472599506378]]], "count": [456]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3575872778892517]], [[0.3541783094406128]], [[0.3548552989959717]]], "std": [[[0.23760148882865906]], [[0.23806674778461456]], [[0.237919420003891]]], "count": [456]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411911964417]], [[0.7529411911964417]], [[0.7529411911964417]]], "mean": [[[0.004757314920425415]], [[0.004757314920425415]], [[0.004757314920425415]]], "std": [[[0.04838580638170242]], [[0.04838580638170242]], [[0.04838580638170242]]], "count": [456]}, "observation.images.tactile_raw": {"min": [[[0.0470588244497776]], [[0.0470588244497776]], [[0.0470588244497776]]], "max": [[[0.9686274528503418]], [[0.9686274528503418]], [[0.9686274528503418]]], "mean": [[[0.4417596757411957]], [[0.4417596757411957]], [[0.4417596757411957]]], "std": [[[0.14647908508777618]], [[0.14647908508777618]], [[0.14647908508777618]]], "count": [456]}}}
diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/info.json b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a37b7dde4c7f61def86e913986f772be7f3900
--- /dev/null
+++ b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 68,
+    "total_frames": 36145,
+    "total_tasks": 2,
+    "total_videos": 408,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:68"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/modality.json b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_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/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/subtasks.jsonl b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74655e6d23f0d43a0bd2efd251e02c145e6fc9c9
--- /dev/null
+++ b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,18 @@
+{"subtask_index": 0, "subtask": "Pick up the knife. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the knife above the cutlerybin. | Skill: move"}
+{"subtask_index": 2, "subtask": "Rotate the knife to a tip-down orientation. | Skill: rotate"}
+{"subtask_index": 3, "subtask": "Place the knife into the cutlerybin. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."}
+{"subtask_index": 5, "subtask": "Left hand: other:move_upward_open_fingers: Left hand moves upward while adjusting its fingers to an open state. | Right hand: other:move_upward_open_fingers: Right hand moves upward while adjusting its fingers to an open state."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: idle: Right hand remains empty in open state at the upper right area without moving."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the yellow knife placed on the black table."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the yellow knife on the black table, adjusting to form a stable grip."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to close and form stable grasp on the yellow knife placed on the black table."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow knife on the black tabletop."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: lift: Right hand lifts the yellow knife upward away from the black tabletop."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: transport: Right hand moves the yellow knife leftward to the position above the red square cup."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: hold: Right hand holds the yellow knife above the red square cup without moving."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: release: Right hand releases the yellow spoon, fingers open to let the spoon drop into the red square cup."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty in open state at the upper left area without moving. | Right hand: retreat: Right hand moves backward away from the red square cup while empty."}
+{"subtask_index": 16, "subtask": "Left hand: return_home: Left hand moves backward to its initial left position, remaining empty without touching any object. | Right hand: return_home: Right hand moves backward to its initial right position, remaining empty without touching any object."}
+{"subtask_index": 17, "subtask": "Task: insert_knife_cutlerybin"}
diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/tasks.jsonl b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: Insert the Knife into the CutleryBin. | Instruction: Pick up the knife, move the knife above the cutlerybin, rotate the knife to a tip-down orientation, place the knife into the cutlerybin. | Scene: A table with a knife and a cutlerybin placed at random positions. | Success: The knife is placed into the cutlerybin."}
+{"task_index": 1, "task": "Task: insert_knife_cutlerybin"}
diff --git a/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/v40_validation.json b/insert_knife_into_cutlery_bin/season_POC22018_2026_05_04_11_13_23_train/lerobot_v2.1/meta/v40_validation.json
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+{
+  "status": "passed",
+  "episodes": 68,
+  "frames": 36145,
+  "video_frames": {
+    "observation.images.head_left": 36145,
+    "observation.images.wrist_left": 36145,
+    "observation.images.wrist_right": 36145,
+    "observation.images.head_right": 36145,
+    "observation.images.tactile_deform": 36145,
+    "observation.images.tactile_raw": 36145
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 68
+}
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