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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/annotations.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8714a10416406cf3965ee548b8124e17ea72676
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,48 @@
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+                "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"
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+        },
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+            "dtype": "float32",
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+            ],
+            "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"
+            ]
+        },
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+                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"
+            ]
+        },
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+            "names": null
+        },
+        "observation.images.head_left": {
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+                "left_index_fx",
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+                "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",
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+                "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": {
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+                3
+            ],
+            "names": [
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+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/modality.json b/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
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+    "head_right": {
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
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+    "tactile_raw": {
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+  },
+  "annotation": {
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/stats.json b/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e473fce0f3cceda75ed73a7677a946992952925
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_17_16_26_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/annotations.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1480a7d9a1bdf2e556116305455c35c94cb6e5b0
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,41 @@
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/episodes.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4209557cf079e0fd5c964255f9c7ae7011bc841a
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,41 @@
+{"episode_index": 0, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 1076}
+{"episode_index": 1, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 901}
+{"episode_index": 2, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 972}
+{"episode_index": 3, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 1322}
+{"episode_index": 4, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 861}
+{"episode_index": 5, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 1120}
+{"episode_index": 6, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 751}
+{"episode_index": 7, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 990}
+{"episode_index": 8, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 851}
+{"episode_index": 9, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 1156}
+{"episode_index": 10, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 760}
+{"episode_index": 11, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 1152}
+{"episode_index": 12, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 615}
+{"episode_index": 13, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 675}
+{"episode_index": 14, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 753}
+{"episode_index": 15, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 854}
+{"episode_index": 16, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 650}
+{"episode_index": 17, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 648}
+{"episode_index": 18, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 711}
+{"episode_index": 19, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 688}
+{"episode_index": 20, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 777}
+{"episode_index": 21, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 648}
+{"episode_index": 22, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 649}
+{"episode_index": 23, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 561}
+{"episode_index": 24, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 626}
+{"episode_index": 25, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 686}
+{"episode_index": 26, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 670}
+{"episode_index": 27, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 543}
+{"episode_index": 28, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 566}
+{"episode_index": 29, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 633}
+{"episode_index": 30, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 684}
+{"episode_index": 31, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 914}
+{"episode_index": 32, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 570}
+{"episode_index": 33, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 639}
+{"episode_index": 34, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 561}
+{"episode_index": 35, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 693}
+{"episode_index": 36, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 739}
+{"episode_index": 37, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 582}
+{"episode_index": 38, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 605}
+{"episode_index": 39, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 699}
+{"episode_index": 40, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 499}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/episodes_stats.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88f53553af292d6dd05c7c73cb0b7e38d81b100d
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/info.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b29d0e71f46a651bbdb63a7de3d5685161e0e2
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    },
+    "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",
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+                "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",
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+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
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+                "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",
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+                "right_arm_j5",
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+                "right_hand_j19",
+                "right_hand_j20",
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+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
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+            "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"
+            ],
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+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
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+                "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
+            }
+        },
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+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+            }
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+                60
+            ],
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+                "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_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/modality.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/subtasks.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d66f3eebcd121e31af5edf25a80e028a9b4a02c
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the plug from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the plug above the socket with the right hand. | Skill: move"}
+{"subtask_index": 2, "subtask": "Align the plug with the socket with the right hand. | Skill: align"}
+{"subtask_index": 3, "subtask": "Plug the plug into the socket with the right hand. | Skill: plug"}
+{"subtask_index": 4, "subtask": "Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/tasks.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..96e71ed01408a718e8d0c311478ea80f7f8e9ad1
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/v40_validation.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c48ba296f946d1c5c300b28a0bab4c1b7a89e2
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 41,
+  "frames": 31050,
+  "video_frames": {
+    "observation.images.head_left": 31050,
+    "observation.images.wrist_left": 31050,
+    "observation.images.wrist_right": 31050,
+    "observation.images.head_right": 31050,
+    "observation.images.tactile_deform": 31050,
+    "observation.images.tactile_raw": 31050
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 41
+}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/annotations.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1480a7d9a1bdf2e556116305455c35c94cb6e5b0
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,41 @@
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+}
\ No newline at end of file
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/modality.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "tactile_raw": {
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+  },
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+}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/stats.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..341da65b256fc46f5a34fb927dad191642076e53
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_22_03_train/lerobot_v3.0/meta/stats.json
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/annotations.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06eaf4d124f58c0348837016a7751e6a05f66c09
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,58 @@
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/episodes.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6512d2e8c32ba18aa445e5d703a616a18dad4eeb
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,58 @@
+{"episode_index": 0, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 626}
+{"episode_index": 1, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 549}
+{"episode_index": 2, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 390}
+{"episode_index": 3, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 390}
+{"episode_index": 4, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 380}
+{"episode_index": 5, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 359}
+{"episode_index": 6, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 444}
+{"episode_index": 7, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 350}
+{"episode_index": 8, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 483}
+{"episode_index": 9, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 362}
+{"episode_index": 10, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 375}
+{"episode_index": 11, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 312}
+{"episode_index": 12, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 334}
+{"episode_index": 13, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 404}
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+{"episode_index": 15, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 369}
+{"episode_index": 16, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 351}
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+{"episode_index": 18, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 338}
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+{"episode_index": 20, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 326}
+{"episode_index": 21, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 374}
+{"episode_index": 22, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 437}
+{"episode_index": 23, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 449}
+{"episode_index": 24, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 375}
+{"episode_index": 25, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 401}
+{"episode_index": 26, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 378}
+{"episode_index": 27, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 374}
+{"episode_index": 28, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 379}
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+{"episode_index": 31, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 354}
+{"episode_index": 32, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 374}
+{"episode_index": 33, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 410}
+{"episode_index": 34, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 358}
+{"episode_index": 35, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 353}
+{"episode_index": 36, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 441}
+{"episode_index": 37, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 348}
+{"episode_index": 38, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 523}
+{"episode_index": 39, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 364}
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+{"episode_index": 47, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 485}
+{"episode_index": 48, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 349}
+{"episode_index": 49, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 359}
+{"episode_index": 50, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 422}
+{"episode_index": 51, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 474}
+{"episode_index": 52, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 444}
+{"episode_index": 53, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 366}
+{"episode_index": 54, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 361}
+{"episode_index": 55, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 366}
+{"episode_index": 56, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 386}
+{"episode_index": 57, "tasks": ["Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."], "length": 501}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a1bdedb3aba333d7712e0e220a9a33c6be2a378d
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,58 @@
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diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/info.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..17964293675fd07575f887e4b34e5f304f2efedb
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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
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+            "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/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/modality.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_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_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/subtasks.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d66f3eebcd121e31af5edf25a80e028a9b4a02c
--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the plug from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the plug above the socket with the right hand. | Skill: move"}
+{"subtask_index": 2, "subtask": "Align the plug with the socket with the right hand. | Skill: align"}
+{"subtask_index": 3, "subtask": "Plug the plug into the socket with the right hand. | Skill: plug"}
+{"subtask_index": 4, "subtask": "Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/tasks.jsonl b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Plug In Connector | Instruction: Pick up the plug with the right hand, move it above the socket, align it with the socket, and plug it in securely. | Scene: A plug and a socket are placed on the table. The robot needs to pick up the plug and insert it into the socket. | Success: The plug is stably inserted into the socket and remains stationary."}
diff --git a/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/v40_validation.json b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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--- /dev/null
+++ b/insert_plug_into_socket/season_POC22007_2026_03_18_19_36_01_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 58,
+  "frames": 22903,
+  "video_frames": {
+    "observation.images.head_left": 22903,
+    "observation.images.wrist_left": 22903,
+    "observation.images.wrist_right": 22903,
+    "observation.images.head_right": 22903,
+    "observation.images.tactile_deform": 22903,
+    "observation.images.tactile_raw": 22903
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 58
+}
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