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diff --git a/sem_insert_utensils_container/meta/episodes_stats.jsonl b/sem_insert_utensils_container/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc80db5f0d432196a9c1f1445eb47455cda24f34
--- /dev/null
+++ b/sem_insert_utensils_container/meta/episodes_stats.jsonl
@@ -0,0 +1,101 @@
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diff --git a/sem_insert_utensils_container/meta/info.json b/sem_insert_utensils_container/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b641d687dcd6896971ae3d9b0f8c9049ed3a722
--- /dev/null
+++ b/sem_insert_utensils_container/meta/info.json
@@ -0,0 +1,97 @@
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+{"task_index": 1, "task": ""}
+{"task_index": 2, "task": "Place the woody just above the power strip to demonstrate it."}
+{"task_index": 3, "task": "Place the iron man figure just above the power strip to demonstrate it."}
+{"task_index": 4, "task": "Place the mickey just above the power strip to demonstrate it."}
+{"task_index": 5, "task": "Place the disney infinity woody just above the power strip to demonstrate it."}
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diff --git a/sem_pick_place_drug_return/meta/info.json b/sem_pick_place_drug_return/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6477cecf69edfd5315946ceb3716a2582388299b
--- /dev/null
+++ b/sem_pick_place_drug_return/meta/info.json
@@ -0,0 +1,97 @@
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diff --git a/sem_pick_place_drug_return/meta/tasks.jsonl b/sem_pick_place_drug_return/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..265838f1be9f91d9b52c2eb6df4d65fe06d602b0
--- /dev/null
+++ b/sem_pick_place_drug_return/meta/tasks.jsonl
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new file mode 100644
index 0000000000000000000000000000000000000000..5f89af2135e14fd1017bce706f9647c4473db278
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diff --git a/sem_pick_place_food_dining/meta/episodes_stats.jsonl b/sem_pick_place_food_dining/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..484d548a7ba9265f31de97307ddf598c75eb34fa
--- /dev/null
+++ b/sem_pick_place_food_dining/meta/episodes_stats.jsonl
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diff --git a/sem_pick_place_food_dining/meta/info.json b/sem_pick_place_food_dining/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..718399ffa7e8d82c5145e60453de15839882e1ee
--- /dev/null
+++ b/sem_pick_place_food_dining/meta/info.json
@@ -0,0 +1,97 @@
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diff --git a/sem_pick_place_trash_valuables/meta/info.json b/sem_pick_place_trash_valuables/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..69944900fad6e80fc02701dc060d9f72eb018561
--- /dev/null
+++ b/sem_pick_place_trash_valuables/meta/info.json
@@ -0,0 +1,97 @@
+{
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+    "robot_type": "franka",
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+    "total_frames": 15726,
+    "total_tasks": 6,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
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+}
\ No newline at end of file
diff --git a/sem_pick_place_trash_valuables/meta/tasks.jsonl b/sem_pick_place_trash_valuables/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08f5758cd008da2b21bb3c61f338e8f3ad4773cf
--- /dev/null
+++ b/sem_pick_place_trash_valuables/meta/tasks.jsonl
@@ -0,0 +1,6 @@
+{"task_index": 0, "task": "Move the bananapeel to the trash bin."}
+{"task_index": 1, "task": "Move the trash tissue to the trash bin."}
+{"task_index": 2, "task": "Place the wallet onto the tray."}
+{"task_index": 3, "task": "Place the diamond ring onto the tray."}
+{"task_index": 4, "task": "Place the gold ring onto the tray."}
+{"task_index": 5, "task": "Place the sdcard onto the tray."}
diff --git a/sem_pick_place_trash_valuables/norm_stats.json b/sem_pick_place_trash_valuables/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7138f92c5f2ffa672a71278c9884bf9241eb552
--- /dev/null
+++ b/sem_pick_place_trash_valuables/norm_stats.json
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diff --git a/sem_pour_water_electronics/meta/info.json b/sem_pour_water_electronics/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da2b4ac6cc1a367357121a0dd6b2c67a684183a
--- /dev/null
+++ b/sem_pour_water_electronics/meta/info.json
@@ -0,0 +1,97 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "franka",
+    "total_episodes": 112,
+    "total_frames": 18041,
+    "total_tasks": 15,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:112"
+    },
+    "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": {
+        "image": {
+            "dtype": "image",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ]
+        },
+        "wrist_image": {
+            "dtype": "image",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ]
+        },
+        "state": {
+            "dtype": "float",
+            "shape": [
+                7
+            ],
+            "names": [
+                "state"
+            ]
+        },
+        "actions": {
+            "dtype": "float",
+            "shape": [
+                7
+            ],
+            "names": [
+                "actions"
+            ]
+        },
+        "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/sem_pour_water_electronics/meta/tasks.jsonl b/sem_pour_water_electronics/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5af279990a81456249c3ad8633cb2bca9bfd005d
--- /dev/null
+++ b/sem_pour_water_electronics/meta/tasks.jsonl
@@ -0,0 +1,15 @@
+{"task_index": 0, "task": "Pour the liquid from the mug into the vase."}
+{"task_index": 1, "task": "Pour the liquid from the mug into the planter."}
+{"task_index": 2, "task": "Pour the liquid from the mug into the basin."}
+{"task_index": 3, "task": ""}
+{"task_index": 4, "task": "Pour the liquid from the mug into the planter1."}
+{"task_index": 5, "task": "Place the woody above the power strip and rotate it for display."}
+{"task_index": 6, "task": "Place the iron man figure above the power strip and rotate it for display."}
+{"task_index": 7, "task": "Place the mickey above the macbook and rotate it for display."}
+{"task_index": 8, "task": "Place the mickey above the power strip and rotate it for display."}
+{"task_index": 9, "task": "Place the disney infinity woody above the macbook and rotate it for display."}
+{"task_index": 10, "task": "Place the iron man figure above the macbook and rotate it for display."}
+{"task_index": 11, "task": "Place the ironman above the power strip and rotate it for display."}
+{"task_index": 12, "task": "Place the woody above the macbook and rotate it for display."}
+{"task_index": 13, "task": "Place the disney infinity woody above the power strip and rotate it for display."}
+{"task_index": 14, "task": "Place the ironman above the macbook and rotate it for display."}
diff --git a/sem_pour_water_electronics/norm_stats.json b/sem_pour_water_electronics/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda45b6c0a7c114158434593d970c3c93e40207f
--- /dev/null
+++ b/sem_pour_water_electronics/norm_stats.json
@@ -0,0 +1,280 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        0.019665181636810303,
+        0.3895586133003235,
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\ No newline at end of file