diff --git a/long_horizon/bottle/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl b/long_horizon/bottle/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fb016c5b9efe900437b153792061df2cfdee3da
--- /dev/null
+++ b/long_horizon/bottle/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/bottle/meta/.ipynb_checkpoints/episodes_stats-checkpoint.jsonl b/long_horizon/bottle/meta/.ipynb_checkpoints/episodes_stats-checkpoint.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b7afa11a22458395277fdddccc771756522c175
--- /dev/null
+++ b/long_horizon/bottle/meta/.ipynb_checkpoints/episodes_stats-checkpoint.jsonl
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diff --git a/long_horizon/bottle/meta/.ipynb_checkpoints/info-checkpoint.json b/long_horizon/bottle/meta/.ipynb_checkpoints/info-checkpoint.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f309dba56b385a8c0fe0dee035e6f22f118b71
--- /dev/null
+++ b/long_horizon/bottle/meta/.ipynb_checkpoints/info-checkpoint.json
@@ -0,0 +1,350 @@
+{
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+    "fps": 15,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+}
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diff --git a/long_horizon/bottle/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl b/long_horizon/bottle/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8485361873b8f6e3338a321554f719386e276cf
--- /dev/null
+++ b/long_horizon/bottle/meta/.ipynb_checkpoints/tasks-checkpoint.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put all the bottles into the basket."}
+{"task_index": 1, "task": "Place all the bottles in the basket."}
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+{"task_index": 4, "task": "Collect all the bottles and put them in the basket."}
diff --git a/long_horizon/bottle/meta/episodes.jsonl b/long_horizon/bottle/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fb016c5b9efe900437b153792061df2cfdee3da
--- /dev/null
+++ b/long_horizon/bottle/meta/episodes.jsonl
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diff --git a/long_horizon/bottle/meta/episodes_stats.jsonl b/long_horizon/bottle/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b7afa11a22458395277fdddccc771756522c175
--- /dev/null
+++ b/long_horizon/bottle/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/bottle/meta/info.json b/long_horizon/bottle/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f309dba56b385a8c0fe0dee035e6f22f118b71
--- /dev/null
+++ b/long_horizon/bottle/meta/info.json
@@ -0,0 +1,350 @@
+{
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+    "fps": 15,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/long_horizon/bottle/meta/modality.json b/long_horizon/bottle/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/long_horizon/bottle/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/long_horizon/bottle/meta/tasks.jsonl b/long_horizon/bottle/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8485361873b8f6e3338a321554f719386e276cf
--- /dev/null
+++ b/long_horizon/bottle/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put all the bottles into the basket."}
+{"task_index": 1, "task": "Place all the bottles in the basket."}
+{"task_index": 2, "task": "Move all the bottles into the basket."}
+{"task_index": 3, "task": "Get all the bottles into the basket."}
+{"task_index": 4, "task": "Collect all the bottles and put them in the basket."}
diff --git a/long_horizon/dish/meta/episodes.jsonl b/long_horizon/dish/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0bbba2e428a1c67f59814205880d1f0954686be
--- /dev/null
+++ b/long_horizon/dish/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Place all of the dishes in the big basket and the spoon in the small basket."], "length": 2137}
+{"episode_index": 1, "tasks": ["Place all of the dishes in the big basket and the spoon in the small basket."], "length": 2139}
+{"episode_index": 2, "tasks": ["Place all of the dishes in the big basket and the spoon in the small basket."], "length": 2100}
+{"episode_index": 3, "tasks": ["Place all of the dishes in the big basket and the spoon in the small basket."], "length": 2115}
+{"episode_index": 4, "tasks": ["Gather all the dishes into the big basket and place the spoon into the small basket."], "length": 2117}
+{"episode_index": 5, "tasks": ["Put every dish into the big basket and place the spoon into the small basket."], "length": 2106}
+{"episode_index": 6, "tasks": ["Place all of the dishes in the big basket and the spoon in the small basket."], "length": 2139}
+{"episode_index": 7, "tasks": ["Move all the dishes into the big basket, then put the spoon into the small basket."], "length": 2137}
+{"episode_index": 8, "tasks": ["Gather all the dishes into the big basket and place the spoon into the small basket."], "length": 2143}
+{"episode_index": 9, "tasks": ["Place all of the dishes in the big basket and the spoon in the small basket."], "length": 2105}
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diff --git a/long_horizon/dish/meta/episodes_stats.jsonl b/long_horizon/dish/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37a28defc9615dcb29e4b7479522b9a43ebd46c0
--- /dev/null
+++ b/long_horizon/dish/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/dish/meta/info.json b/long_horizon/dish/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..79430a1cd8ad0595953da55cc8c4fe394fe1c0e6
--- /dev/null
+++ b/long_horizon/dish/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 424709,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/long_horizon/dish/meta/modality.json b/long_horizon/dish/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/long_horizon/dish/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/long_horizon/dish/meta/tasks.jsonl b/long_horizon/dish/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6ceecec150759c1e05c573a4a90c24fe3790139
--- /dev/null
+++ b/long_horizon/dish/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put every dish into the big basket and place the spoon into the small basket."}
+{"task_index": 1, "task": "Place all of the dishes in the big basket and the spoon in the small basket."}
+{"task_index": 2, "task": "Move all the dishes into the big basket, then put the spoon into the small basket."}
+{"task_index": 3, "task": "Gather all the dishes into the big basket and place the spoon into the small basket."}
+{"task_index": 4, "task": "Put all the dishes in the big basket and put the spoon in the small basket."}
diff --git a/long_horizon/dishwasher/meta/episodes.jsonl b/long_horizon/dishwasher/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f1870e5c4e64e753c09f5db4bb0bd7c86102edf
--- /dev/null
+++ b/long_horizon/dishwasher/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Put every bowl into the dishwasher."], "length": 1555}
+{"episode_index": 1, "tasks": ["Move all the bowls into the dishwasher."], "length": 1547}
+{"episode_index": 2, "tasks": ["Put every bowl into the dishwasher."], "length": 1545}
+{"episode_index": 3, "tasks": ["Load all the bowls into the dishwasher."], "length": 1549}
+{"episode_index": 4, "tasks": ["Move all the bowls into the dishwasher."], "length": 1563}
+{"episode_index": 5, "tasks": ["Move all the bowls into the dishwasher."], "length": 1564}
+{"episode_index": 6, "tasks": ["Place all the bowls into the dishwasher."], "length": 1557}
+{"episode_index": 7, "tasks": ["Move all the bowls into the dishwasher."], "length": 1556}
+{"episode_index": 8, "tasks": ["Load all the bowls into the dishwasher."], "length": 1569}
+{"episode_index": 9, "tasks": ["Move all the bowls into the dishwasher."], "length": 1551}
+{"episode_index": 10, "tasks": ["Put every bowl into the dishwasher."], "length": 1543}
+{"episode_index": 11, "tasks": ["Move all the bowls into the dishwasher."], "length": 1572}
+{"episode_index": 12, "tasks": ["Put every bowl into the dishwasher."], "length": 1556}
+{"episode_index": 13, "tasks": ["Set all the bowls into the dishwasher."], "length": 1562}
+{"episode_index": 14, "tasks": ["Set all the bowls into the dishwasher."], "length": 1561}
+{"episode_index": 15, "tasks": ["Place all the bowls into the dishwasher."], "length": 1556}
+{"episode_index": 16, "tasks": ["Move all the bowls into the dishwasher."], "length": 1557}
+{"episode_index": 17, "tasks": ["Set all the bowls into the dishwasher."], "length": 1559}
+{"episode_index": 18, "tasks": ["Set all the bowls into the dishwasher."], "length": 1561}
+{"episode_index": 19, "tasks": ["Place all the bowls into the dishwasher."], "length": 1552}
+{"episode_index": 20, "tasks": ["Place all the bowls into the dishwasher."], "length": 1549}
+{"episode_index": 21, "tasks": ["Move all the bowls into the dishwasher."], "length": 1547}
+{"episode_index": 22, "tasks": ["Put every bowl into the dishwasher."], "length": 1561}
+{"episode_index": 23, "tasks": ["Move all the bowls into the dishwasher."], "length": 1563}
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+{"episode_index": 27, "tasks": ["Move all the bowls into the dishwasher."], "length": 1550}
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+{"episode_index": 29, "tasks": ["Put every bowl into the dishwasher."], "length": 1554}
+{"episode_index": 30, "tasks": ["Move all the bowls into the dishwasher."], "length": 1552}
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+{"episode_index": 40, "tasks": ["Set all the bowls into the dishwasher."], "length": 1554}
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+{"episode_index": 96, "tasks": ["Load all the bowls into the dishwasher."], "length": 1548}
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diff --git a/long_horizon/dishwasher/meta/episodes_stats.jsonl b/long_horizon/dishwasher/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6ee0d0cd4bca354c8ef9e0f8f72ac7d3c18465a
--- /dev/null
+++ b/long_horizon/dishwasher/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/dishwasher/meta/info.json b/long_horizon/dishwasher/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb7bd8b17912346248d4d0405b28e6f91371fd9
--- /dev/null
+++ b/long_horizon/dishwasher/meta/info.json
@@ -0,0 +1,350 @@
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+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/long_horizon/dishwasher/meta/modality.json b/long_horizon/dishwasher/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/long_horizon/dishwasher/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/long_horizon/dishwasher/meta/tasks.jsonl b/long_horizon/dishwasher/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..576f2c81af3c3fc7b7e2dfe3ebe5250107fa1465
--- /dev/null
+++ b/long_horizon/dishwasher/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Place all the bowls into the dishwasher."}
+{"task_index": 1, "task": "Put every bowl into the dishwasher."}
+{"task_index": 2, "task": "Load all the bowls into the dishwasher."}
+{"task_index": 3, "task": "Move all the bowls into the dishwasher."}
+{"task_index": 4, "task": "Set all the bowls into the dishwasher."}
diff --git a/long_horizon/make_sandwich/meta/episodes.jsonl b/long_horizon/make_sandwich/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81b732052de85255a1222fe250e9a7e5a4aaccf1
--- /dev/null
+++ b/long_horizon/make_sandwich/meta/episodes.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/make_sandwich/meta/episodes_stats.jsonl b/long_horizon/make_sandwich/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f0b00744e07ccf714b79e27ad88e90ec0287c37
--- /dev/null
+++ b/long_horizon/make_sandwich/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/make_sandwich/meta/info.json b/long_horizon/make_sandwich/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde7b572c0a9ca2918ccc02153c6e3b90171eaa6
--- /dev/null
+++ b/long_horizon/make_sandwich/meta/info.json
@@ -0,0 +1,350 @@
+{
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+    "robot_type": "lift2",
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+    "total_frames": 158526,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
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+    },
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                    "joint_3",
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+                    "joint_5",
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+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
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+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
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+        "action.joints_delta": {
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+            ],
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+                    "joint_1",
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+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
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+        },
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+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
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+            "names": [
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+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
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+                    "ee0_qx",
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+                    "ee0_qz",
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+                    "ee1_y",
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+                    "ee1_qx",
+                    "ee1_qy",
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+                    "ee0_qz",
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+                    "ee0_y",
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+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
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+                    "base_y",
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+                ]
+            ]
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+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
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+                3
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+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/long_horizon/make_sandwich/meta/modality.json b/long_horizon/make_sandwich/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/long_horizon/make_sandwich/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/long_horizon/make_sandwich/meta/tasks.jsonl b/long_horizon/make_sandwich/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf7ccd639ac285f35072904aabcd20a860df98e2
--- /dev/null
+++ b/long_horizon/make_sandwich/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Make a sandwich on the plate."}
+{"task_index": 1, "task": "Prepare a sandwich on the plate."}
+{"task_index": 2, "task": "Assemble a sandwich on the plate."}
+{"task_index": 3, "task": "Put together a sandwich on the plate."}
+{"task_index": 4, "task": "Build a sandwich on the plate."}
diff --git a/long_horizon/pen/meta/episodes.jsonl b/long_horizon/pen/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06f37be5bf27a7eb0e8dd339b8b5cba41a583677
--- /dev/null
+++ b/long_horizon/pen/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Insert the pens into the penholder."], "length": 1184}
+{"episode_index": 1, "tasks": ["Place the pens in the penholder."], "length": 1188}
+{"episode_index": 2, "tasks": ["Put the pens into the penholder."], "length": 1143}
+{"episode_index": 3, "tasks": ["Place the pens in the penholder."], "length": 1188}
+{"episode_index": 4, "tasks": ["Place the pens in the penholder."], "length": 1200}
+{"episode_index": 5, "tasks": ["Put the pens inside the penholder."], "length": 1154}
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diff --git a/long_horizon/pen/meta/episodes_stats.jsonl b/long_horizon/pen/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6249a04e1be6fb51e5be5c3d1f21854c464715c
--- /dev/null
+++ b/long_horizon/pen/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/pen/meta/info.json b/long_horizon/pen/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86d22a5280b3e8a08f0379898483c3f139a2fd8
--- /dev/null
+++ b/long_horizon/pen/meta/info.json
@@ -0,0 +1,350 @@
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+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/long_horizon/pen/meta/modality.json b/long_horizon/pen/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/long_horizon/pen/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/long_horizon/pen/meta/tasks.jsonl b/long_horizon/pen/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..205a5ef20ac42709225698fef39aabfaef4e2931
--- /dev/null
+++ b/long_horizon/pen/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Place the pens in the penholder."}
+{"task_index": 1, "task": "Put the pens into the penholder."}
+{"task_index": 2, "task": "Set the pens in the penholder."}
+{"task_index": 3, "task": "Insert the pens into the penholder."}
+{"task_index": 4, "task": "Put the pens inside the penholder."}
diff --git a/long_horizon/shop/meta/episodes.jsonl b/long_horizon/shop/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4e5c5dbbf972b9b68da0ea7f4b262c85dd66786
--- /dev/null
+++ b/long_horizon/shop/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["At the checkout counter, scan all the items."], "length": 4283}
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diff --git a/long_horizon/shop/meta/episodes_stats.jsonl b/long_horizon/shop/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8790e342799aae2dec92665b611d79b3a62bbb74
--- /dev/null
+++ b/long_horizon/shop/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/long_horizon/shop/meta/info.json b/long_horizon/shop/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..23333aca2a874d13285be1dde4c2baaba4ea46cf
--- /dev/null
+++ b/long_horizon/shop/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 851639,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/long_horizon/shop/meta/modality.json b/long_horizon/shop/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/long_horizon/shop/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/long_horizon/shop/meta/tasks.jsonl b/long_horizon/shop/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f42e0acd0b421ae83265549af39e50ea7045fc22
--- /dev/null
+++ b/long_horizon/shop/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Scan every item at the checkout counter."}
+{"task_index": 1, "task": "Scan each item at the checkout counter."}
+{"task_index": 2, "task": "At the checkout counter, scan all the items."}
+{"task_index": 3, "task": "Scan all items at the checkout counter."}
+{"task_index": 4, "task": "Scan every item on the checkout counter."}
diff --git a/simple_pnp/task1/meta/episodes.jsonl b/simple_pnp/task1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1022347c4af4e0060a2b78c63c64442c82ae7044
--- /dev/null
+++ b/simple_pnp/task1/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
+{"episode_index": 1, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 710}
+{"episode_index": 2, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 710}
+{"episode_index": 3, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 710}
+{"episode_index": 4, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
+{"episode_index": 5, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
+{"episode_index": 6, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 710}
+{"episode_index": 7, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 710}
+{"episode_index": 8, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 710}
+{"episode_index": 9, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
+{"episode_index": 10, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
+{"episode_index": 11, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 710}
+{"episode_index": 12, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 710}
+{"episode_index": 13, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 710}
+{"episode_index": 14, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
+{"episode_index": 15, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 783}
+{"episode_index": 16, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 783}
+{"episode_index": 17, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 783}
+{"episode_index": 18, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 783}
+{"episode_index": 19, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 783}
+{"episode_index": 20, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 783}
+{"episode_index": 21, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 783}
+{"episode_index": 22, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 783}
+{"episode_index": 23, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 783}
+{"episode_index": 24, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 783}
+{"episode_index": 25, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 783}
+{"episode_index": 26, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 783}
+{"episode_index": 27, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 783}
+{"episode_index": 28, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 783}
+{"episode_index": 29, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 783}
+{"episode_index": 30, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 783}
+{"episode_index": 31, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 783}
+{"episode_index": 32, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 783}
+{"episode_index": 33, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 783}
+{"episode_index": 34, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 783}
+{"episode_index": 35, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
+{"episode_index": 36, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 710}
+{"episode_index": 37, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 710}
+{"episode_index": 38, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 710}
+{"episode_index": 39, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
+{"episode_index": 40, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 671}
+{"episode_index": 41, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 671}
+{"episode_index": 42, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 671}
+{"episode_index": 43, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 671}
+{"episode_index": 44, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 671}
+{"episode_index": 45, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 671}
+{"episode_index": 46, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 671}
+{"episode_index": 47, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 671}
+{"episode_index": 48, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 671}
+{"episode_index": 49, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 671}
+{"episode_index": 50, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 671}
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diff --git a/simple_pnp/task1/meta/episodes_stats.jsonl b/simple_pnp/task1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4828aaa4b11355e55a9701154b75c65fe16934cf
--- /dev/null
+++ b/simple_pnp/task1/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task1/meta/info.json b/simple_pnp/task1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf87ff85081a136b43aff46dc8412209e1e8503
--- /dev/null
+++ b/simple_pnp/task1/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 151620,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task1/meta/modality.json b/simple_pnp/task1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task1/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task1/meta/tasks.jsonl b/simple_pnp/task1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..daddff1cd61c780d4358d21f08645ec49d032303
--- /dev/null
+++ b/simple_pnp/task1/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the fork and spoon from the countertop and place them into the utensil holder."}
+{"task_index": 1, "task": "Pick up the fork and the spoon from the counter and put them in the utensil holder."}
+{"task_index": 2, "task": "Lift the fork and spoon from the countertop, then place them into the utensil holder."}
+{"task_index": 3, "task": "Take the fork and spoon from the counter and set them inside the utensil holder."}
+{"task_index": 4, "task": "Grab the fork and spoon on the countertop and move them into the utensil holder."}
diff --git a/simple_pnp/task10/meta/episodes.jsonl b/simple_pnp/task10/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..716c4902189f84df6c1f324c538dbeee78ff5b7a
--- /dev/null
+++ b/simple_pnp/task10/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 1, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 2, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 3, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 4, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 5, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 6, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 7, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 8, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 9, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 10, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 11, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 12, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 13, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 14, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 15, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 502}
+{"episode_index": 16, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 502}
+{"episode_index": 17, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 502}
+{"episode_index": 18, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 502}
+{"episode_index": 19, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 502}
+{"episode_index": 20, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 502}
+{"episode_index": 21, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 502}
+{"episode_index": 22, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 502}
+{"episode_index": 23, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 502}
+{"episode_index": 24, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 502}
+{"episode_index": 25, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 502}
+{"episode_index": 26, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 502}
+{"episode_index": 27, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 502}
+{"episode_index": 28, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 502}
+{"episode_index": 29, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 502}
+{"episode_index": 30, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 502}
+{"episode_index": 31, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 502}
+{"episode_index": 32, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 502}
+{"episode_index": 33, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 502}
+{"episode_index": 34, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 502}
+{"episode_index": 35, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 36, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 37, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 38, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 39, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 40, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 510}
+{"episode_index": 41, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 510}
+{"episode_index": 42, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 510}
+{"episode_index": 43, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 510}
+{"episode_index": 44, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 510}
+{"episode_index": 45, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 510}
+{"episode_index": 46, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 510}
+{"episode_index": 47, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 510}
+{"episode_index": 48, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 510}
+{"episode_index": 49, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 510}
+{"episode_index": 50, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 510}
+{"episode_index": 51, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 510}
+{"episode_index": 52, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 510}
+{"episode_index": 53, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 510}
+{"episode_index": 54, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 510}
+{"episode_index": 55, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 488}
+{"episode_index": 56, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 488}
+{"episode_index": 57, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 488}
+{"episode_index": 58, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 488}
+{"episode_index": 59, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 488}
+{"episode_index": 60, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 488}
+{"episode_index": 61, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 488}
+{"episode_index": 62, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 488}
+{"episode_index": 63, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 488}
+{"episode_index": 64, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 488}
+{"episode_index": 65, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 488}
+{"episode_index": 66, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 488}
+{"episode_index": 67, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 488}
+{"episode_index": 68, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 488}
+{"episode_index": 69, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 488}
+{"episode_index": 70, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 488}
+{"episode_index": 71, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 488}
+{"episode_index": 72, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 488}
+{"episode_index": 73, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 488}
+{"episode_index": 74, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 488}
+{"episode_index": 75, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 510}
+{"episode_index": 76, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 510}
+{"episode_index": 77, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 510}
+{"episode_index": 78, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 510}
+{"episode_index": 79, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 510}
+{"episode_index": 80, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 468}
+{"episode_index": 81, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 468}
+{"episode_index": 82, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 468}
+{"episode_index": 83, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 468}
+{"episode_index": 84, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 468}
+{"episode_index": 85, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 468}
+{"episode_index": 86, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 468}
+{"episode_index": 87, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 468}
+{"episode_index": 88, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 468}
+{"episode_index": 89, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 468}
+{"episode_index": 90, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 468}
+{"episode_index": 91, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 468}
+{"episode_index": 92, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 468}
+{"episode_index": 93, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 468}
+{"episode_index": 94, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 468}
+{"episode_index": 95, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 470}
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+{"episode_index": 97, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 470}
+{"episode_index": 98, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 470}
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+{"episode_index": 101, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 470}
+{"episode_index": 102, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 470}
+{"episode_index": 103, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 470}
+{"episode_index": 104, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 470}
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+{"episode_index": 106, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 470}
+{"episode_index": 107, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 470}
+{"episode_index": 108, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 470}
+{"episode_index": 109, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 470}
+{"episode_index": 110, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 470}
+{"episode_index": 111, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 470}
+{"episode_index": 112, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 470}
+{"episode_index": 113, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 470}
+{"episode_index": 114, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 470}
+{"episode_index": 115, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 468}
+{"episode_index": 116, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 468}
+{"episode_index": 117, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 468}
+{"episode_index": 118, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 468}
+{"episode_index": 119, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 468}
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+{"episode_index": 121, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 478}
+{"episode_index": 122, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 478}
+{"episode_index": 123, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 478}
+{"episode_index": 124, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 478}
+{"episode_index": 125, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 478}
+{"episode_index": 126, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 478}
+{"episode_index": 127, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 478}
+{"episode_index": 128, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 478}
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+{"episode_index": 146, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 477}
+{"episode_index": 147, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 477}
+{"episode_index": 148, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 477}
+{"episode_index": 149, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 477}
+{"episode_index": 150, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 477}
+{"episode_index": 151, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 477}
+{"episode_index": 152, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 477}
+{"episode_index": 153, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 477}
+{"episode_index": 154, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 477}
+{"episode_index": 155, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 478}
+{"episode_index": 156, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 478}
+{"episode_index": 157, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 478}
+{"episode_index": 158, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 478}
+{"episode_index": 159, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 478}
+{"episode_index": 160, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 486}
+{"episode_index": 161, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 486}
+{"episode_index": 162, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 486}
+{"episode_index": 163, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 486}
+{"episode_index": 164, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 486}
+{"episode_index": 165, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 486}
+{"episode_index": 166, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 486}
+{"episode_index": 167, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 486}
+{"episode_index": 168, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 486}
+{"episode_index": 169, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 486}
+{"episode_index": 170, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 486}
+{"episode_index": 171, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 486}
+{"episode_index": 172, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 486}
+{"episode_index": 173, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 486}
+{"episode_index": 174, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 486}
+{"episode_index": 175, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 482}
+{"episode_index": 176, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 482}
+{"episode_index": 177, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 482}
+{"episode_index": 178, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 482}
+{"episode_index": 179, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 482}
+{"episode_index": 180, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 482}
+{"episode_index": 181, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 482}
+{"episode_index": 182, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 482}
+{"episode_index": 183, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 482}
+{"episode_index": 184, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 482}
+{"episode_index": 185, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 482}
+{"episode_index": 186, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 482}
+{"episode_index": 187, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 482}
+{"episode_index": 188, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 482}
+{"episode_index": 189, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 482}
+{"episode_index": 190, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 482}
+{"episode_index": 191, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 482}
+{"episode_index": 192, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 482}
+{"episode_index": 193, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 482}
+{"episode_index": 194, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 482}
+{"episode_index": 195, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 486}
+{"episode_index": 196, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 486}
+{"episode_index": 197, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 486}
+{"episode_index": 198, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 486}
+{"episode_index": 199, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 486}
diff --git a/simple_pnp/task10/meta/episodes_stats.jsonl b/simple_pnp/task10/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b74e5dca85f2ac3002e045337552601f5b8219c
--- /dev/null
+++ b/simple_pnp/task10/meta/episodes_stats.jsonl
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diff --git a/simple_pnp/task10/meta/info.json b/simple_pnp/task10/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dafc6709864bbcf9e16c740527449ba058f3df9
--- /dev/null
+++ b/simple_pnp/task10/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 96660,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task10/meta/modality.json b/simple_pnp/task10/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task10/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task10/meta/tasks.jsonl b/simple_pnp/task10/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..191ed497d1cbe25e6f1eeb191d5c1ed78f6f0d38
--- /dev/null
+++ b/simple_pnp/task10/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Take out one of the three bowls and stack on the plate."}
+{"task_index": 1, "task": "Take out one of the three bowls and stack it on the plate."}
+{"task_index": 2, "task": "Remove one of the three bowls and place it stacked on the plate."}
+{"task_index": 3, "task": "Pick one bowl from the three and stack it on the plate."}
+{"task_index": 4, "task": "Select one of the three bowls, take it out, and stack it on the plate."}
diff --git a/simple_pnp/task2/meta/episodes.jsonl b/simple_pnp/task2/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b7e1d5cbfb22e55bc720b3dff560a000ea07832
--- /dev/null
+++ b/simple_pnp/task2/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Put the bookmark on the top of the book."], "length": 428}
+{"episode_index": 1, "tasks": ["Place the bookmark on top of the book."], "length": 428}
+{"episode_index": 2, "tasks": ["Move the bookmark to the top of the book."], "length": 428}
+{"episode_index": 3, "tasks": ["Set the bookmark on the upper side of the book."], "length": 428}
+{"episode_index": 4, "tasks": ["Take the bookmark and place it on top of the book."], "length": 428}
+{"episode_index": 5, "tasks": ["Put the bookmark on the top of the book."], "length": 428}
+{"episode_index": 6, "tasks": ["Place the bookmark on top of the book."], "length": 428}
+{"episode_index": 7, "tasks": ["Move the bookmark to the top of the book."], "length": 428}
+{"episode_index": 8, "tasks": ["Set the bookmark on the upper side of the book."], "length": 428}
+{"episode_index": 9, "tasks": ["Take the bookmark and place it on top of the book."], "length": 428}
+{"episode_index": 10, "tasks": ["Put the bookmark on the top of the book."], "length": 428}
+{"episode_index": 11, "tasks": ["Place the bookmark on top of the book."], "length": 428}
+{"episode_index": 12, "tasks": ["Move the bookmark to the top of the book."], "length": 428}
+{"episode_index": 13, "tasks": ["Set the bookmark on the upper side of the book."], "length": 428}
+{"episode_index": 14, "tasks": ["Take the bookmark and place it on top of the book."], "length": 428}
+{"episode_index": 15, "tasks": ["Put the bookmark on the top of the book."], "length": 446}
+{"episode_index": 16, "tasks": ["Place the bookmark on top of the book."], "length": 446}
+{"episode_index": 17, "tasks": ["Move the bookmark to the top of the book."], "length": 446}
+{"episode_index": 18, "tasks": ["Set the bookmark on the upper side of the book."], "length": 446}
+{"episode_index": 19, "tasks": ["Take the bookmark and place it on top of the book."], "length": 446}
+{"episode_index": 20, "tasks": ["Put the bookmark on the top of the book."], "length": 446}
+{"episode_index": 21, "tasks": ["Place the bookmark on top of the book."], "length": 446}
+{"episode_index": 22, "tasks": ["Move the bookmark to the top of the book."], "length": 446}
+{"episode_index": 23, "tasks": ["Set the bookmark on the upper side of the book."], "length": 446}
+{"episode_index": 24, "tasks": ["Take the bookmark and place it on top of the book."], "length": 446}
+{"episode_index": 25, "tasks": ["Put the bookmark on the top of the book."], "length": 446}
+{"episode_index": 26, "tasks": ["Place the bookmark on top of the book."], "length": 446}
+{"episode_index": 27, "tasks": ["Move the bookmark to the top of the book."], "length": 446}
+{"episode_index": 28, "tasks": ["Set the bookmark on the upper side of the book."], "length": 446}
+{"episode_index": 29, "tasks": ["Take the bookmark and place it on top of the book."], "length": 446}
+{"episode_index": 30, "tasks": ["Put the bookmark on the top of the book."], "length": 446}
+{"episode_index": 31, "tasks": ["Place the bookmark on top of the book."], "length": 446}
+{"episode_index": 32, "tasks": ["Move the bookmark to the top of the book."], "length": 446}
+{"episode_index": 33, "tasks": ["Set the bookmark on the upper side of the book."], "length": 446}
+{"episode_index": 34, "tasks": ["Take the bookmark and place it on top of the book."], "length": 446}
+{"episode_index": 35, "tasks": ["Put the bookmark on the top of the book."], "length": 428}
+{"episode_index": 36, "tasks": ["Place the bookmark on top of the book."], "length": 428}
+{"episode_index": 37, "tasks": ["Move the bookmark to the top of the book."], "length": 428}
+{"episode_index": 38, "tasks": ["Set the bookmark on the upper side of the book."], "length": 428}
+{"episode_index": 39, "tasks": ["Take the bookmark and place it on top of the book."], "length": 428}
+{"episode_index": 40, "tasks": ["Put the bookmark on the top of the book."], "length": 439}
+{"episode_index": 41, "tasks": ["Place the bookmark on top of the book."], "length": 439}
+{"episode_index": 42, "tasks": ["Move the bookmark to the top of the book."], "length": 439}
+{"episode_index": 43, "tasks": ["Set the bookmark on the upper side of the book."], "length": 439}
+{"episode_index": 44, "tasks": ["Take the bookmark and place it on top of the book."], "length": 439}
+{"episode_index": 45, "tasks": ["Put the bookmark on the top of the book."], "length": 439}
+{"episode_index": 46, "tasks": ["Place the bookmark on top of the book."], "length": 439}
+{"episode_index": 47, "tasks": ["Move the bookmark to the top of the book."], "length": 439}
+{"episode_index": 48, "tasks": ["Set the bookmark on the upper side of the book."], "length": 439}
+{"episode_index": 49, "tasks": ["Take the bookmark and place it on top of the book."], "length": 439}
+{"episode_index": 50, "tasks": ["Put the bookmark on the top of the book."], "length": 439}
+{"episode_index": 51, "tasks": ["Place the bookmark on top of the book."], "length": 439}
+{"episode_index": 52, "tasks": ["Move the bookmark to the top of the book."], "length": 439}
+{"episode_index": 53, "tasks": ["Set the bookmark on the upper side of the book."], "length": 439}
+{"episode_index": 54, "tasks": ["Take the bookmark and place it on top of the book."], "length": 439}
+{"episode_index": 55, "tasks": ["Put the bookmark on the top of the book."], "length": 417}
+{"episode_index": 56, "tasks": ["Place the bookmark on top of the book."], "length": 417}
+{"episode_index": 57, "tasks": ["Move the bookmark to the top of the book."], "length": 417}
+{"episode_index": 58, "tasks": ["Set the bookmark on the upper side of the book."], "length": 417}
+{"episode_index": 59, "tasks": ["Take the bookmark and place it on top of the book."], "length": 417}
+{"episode_index": 60, "tasks": ["Put the bookmark on the top of the book."], "length": 417}
+{"episode_index": 61, "tasks": ["Place the bookmark on top of the book."], "length": 417}
+{"episode_index": 62, "tasks": ["Move the bookmark to the top of the book."], "length": 417}
+{"episode_index": 63, "tasks": ["Set the bookmark on the upper side of the book."], "length": 417}
+{"episode_index": 64, "tasks": ["Take the bookmark and place it on top of the book."], "length": 417}
+{"episode_index": 65, "tasks": ["Put the bookmark on the top of the book."], "length": 417}
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+{"episode_index": 74, "tasks": ["Take the bookmark and place it on top of the book."], "length": 417}
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+{"episode_index": 77, "tasks": ["Move the bookmark to the top of the book."], "length": 439}
+{"episode_index": 78, "tasks": ["Set the bookmark on the upper side of the book."], "length": 439}
+{"episode_index": 79, "tasks": ["Take the bookmark and place it on top of the book."], "length": 439}
+{"episode_index": 80, "tasks": ["Put the bookmark on the top of the book."], "length": 432}
+{"episode_index": 81, "tasks": ["Place the bookmark on top of the book."], "length": 432}
+{"episode_index": 82, "tasks": ["Move the bookmark to the top of the book."], "length": 432}
+{"episode_index": 83, "tasks": ["Set the bookmark on the upper side of the book."], "length": 432}
+{"episode_index": 84, "tasks": ["Take the bookmark and place it on top of the book."], "length": 432}
+{"episode_index": 85, "tasks": ["Put the bookmark on the top of the book."], "length": 432}
+{"episode_index": 86, "tasks": ["Place the bookmark on top of the book."], "length": 432}
+{"episode_index": 87, "tasks": ["Move the bookmark to the top of the book."], "length": 432}
+{"episode_index": 88, "tasks": ["Set the bookmark on the upper side of the book."], "length": 432}
+{"episode_index": 89, "tasks": ["Take the bookmark and place it on top of the book."], "length": 432}
+{"episode_index": 90, "tasks": ["Put the bookmark on the top of the book."], "length": 432}
+{"episode_index": 91, "tasks": ["Place the bookmark on top of the book."], "length": 432}
+{"episode_index": 92, "tasks": ["Move the bookmark to the top of the book."], "length": 432}
+{"episode_index": 93, "tasks": ["Set the bookmark on the upper side of the book."], "length": 432}
+{"episode_index": 94, "tasks": ["Take the bookmark and place it on top of the book."], "length": 432}
+{"episode_index": 95, "tasks": ["Put the bookmark on the top of the book."], "length": 438}
+{"episode_index": 96, "tasks": ["Place the bookmark on top of the book."], "length": 438}
+{"episode_index": 97, "tasks": ["Move the bookmark to the top of the book."], "length": 438}
+{"episode_index": 98, "tasks": ["Set the bookmark on the upper side of the book."], "length": 438}
+{"episode_index": 99, "tasks": ["Take the bookmark and place it on top of the book."], "length": 438}
+{"episode_index": 100, "tasks": ["Put the bookmark on the top of the book."], "length": 438}
+{"episode_index": 101, "tasks": ["Place the bookmark on top of the book."], "length": 438}
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+{"episode_index": 104, "tasks": ["Take the bookmark and place it on top of the book."], "length": 438}
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+{"episode_index": 112, "tasks": ["Move the bookmark to the top of the book."], "length": 438}
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diff --git a/simple_pnp/task2/meta/episodes_stats.jsonl b/simple_pnp/task2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..582e31181e83adbf687f4567e687524b09da7900
--- /dev/null
+++ b/simple_pnp/task2/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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[[[0.9921568627450981]], [[0.9921568627450981]], [[0.9921568627450981]]], "mean": [[[0.5302377226307189]], [[0.4716498570261438]], [[0.40437557189542483]]], "std": [[[0.2147177892526833]], [[0.212234192585508]], [[0.21495265570588892]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [29.333333333333332], "mean": [14.666666666666666], "std": [8.487027137321386], "count": [441]}, "frame_index": {"min": [0], "max": [440], "mean": [220.0], "std": [127.30540705982078], "count": [441]}, "episode_index": {"min": [199], "max": [199], "mean": [199.0], "std": [0.0], "count": [441]}, "index": {"min": [86679], "max": [87119], "mean": [86899.0], "std": [127.30540705982078], "count": [441]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [441]}}}
diff --git a/simple_pnp/task2/meta/info.json b/simple_pnp/task2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a176484d680f41596dea2eb5f1d2f495966a7a38
--- /dev/null
+++ b/simple_pnp/task2/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 87120,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task2/meta/modality.json b/simple_pnp/task2/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task2/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task2/meta/tasks.jsonl b/simple_pnp/task2/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08436030906237514055c6dfe520cf21174bc96d
--- /dev/null
+++ b/simple_pnp/task2/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put the bookmark on the top of the book."}
+{"task_index": 1, "task": "Place the bookmark on top of the book."}
+{"task_index": 2, "task": "Move the bookmark to the top of the book."}
+{"task_index": 3, "task": "Set the bookmark on the upper side of the book."}
+{"task_index": 4, "task": "Take the bookmark and place it on top of the book."}
diff --git a/simple_pnp/task4/meta/episodes.jsonl b/simple_pnp/task4/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67c949f0ba7d68d9e4051aa7b489753132f53484
--- /dev/null
+++ b/simple_pnp/task4/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 409}
+{"episode_index": 1, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 409}
+{"episode_index": 2, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 409}
+{"episode_index": 3, "tasks": ["Take the apple off the dining table and place it in the fruit bowl."], "length": 409}
+{"episode_index": 4, "tasks": ["Move the apple from the dining table to the fruit bowl."], "length": 409}
+{"episode_index": 5, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 409}
+{"episode_index": 6, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 409}
+{"episode_index": 7, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 409}
+{"episode_index": 8, "tasks": ["Take the apple off the dining table and place it in the fruit bowl."], "length": 409}
+{"episode_index": 9, "tasks": ["Move the apple from the dining table to the fruit bowl."], "length": 409}
+{"episode_index": 10, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 409}
+{"episode_index": 11, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 409}
+{"episode_index": 12, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 409}
+{"episode_index": 13, "tasks": ["Take the apple off the dining table and place it in the fruit bowl."], "length": 409}
+{"episode_index": 14, "tasks": ["Move the apple from the dining table to the fruit bowl."], "length": 409}
+{"episode_index": 15, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 450}
+{"episode_index": 16, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 450}
+{"episode_index": 17, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 450}
+{"episode_index": 18, "tasks": ["Take the apple off the dining table and place it in the fruit bowl."], "length": 450}
+{"episode_index": 19, "tasks": ["Move the apple from the dining table to the fruit bowl."], "length": 450}
+{"episode_index": 20, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 450}
+{"episode_index": 21, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 450}
+{"episode_index": 22, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 450}
+{"episode_index": 23, "tasks": ["Take the apple off the dining table and place it in the fruit bowl."], "length": 450}
+{"episode_index": 24, "tasks": ["Move the apple from the dining table to the fruit bowl."], "length": 450}
+{"episode_index": 25, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 450}
+{"episode_index": 26, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 450}
+{"episode_index": 27, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 450}
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diff --git a/simple_pnp/task4/meta/episodes_stats.jsonl b/simple_pnp/task4/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a0e7388433a6fb1aace7d16d1288121121b75a
--- /dev/null
+++ b/simple_pnp/task4/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task4/meta/info.json b/simple_pnp/task4/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c978cfab82c5031ddf950331473c8981c4f2c6
--- /dev/null
+++ b/simple_pnp/task4/meta/info.json
@@ -0,0 +1,350 @@
+{
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+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task4/meta/modality.json b/simple_pnp/task4/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task4/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task4/meta/tasks.jsonl b/simple_pnp/task4/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72bb618be29d09b23b545122af83546eab143937
--- /dev/null
+++ b/simple_pnp/task4/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the apple from the dining table and place it into the fruit bowl."}
+{"task_index": 1, "task": "Pick up the apple from the dining table and put it into the fruit bowl."}
+{"task_index": 2, "task": "Lift the apple from the dining table and set it into the fruit bowl."}
+{"task_index": 3, "task": "Take the apple off the dining table and place it in the fruit bowl."}
+{"task_index": 4, "task": "Move the apple from the dining table to the fruit bowl."}
diff --git a/simple_pnp/task5/meta/episodes.jsonl b/simple_pnp/task5/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb0faf1ab132ebf530ddd525c001bae398d07275
--- /dev/null
+++ b/simple_pnp/task5/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 390}
+{"episode_index": 1, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 447}
+{"episode_index": 2, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 415}
+{"episode_index": 3, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 415}
+{"episode_index": 4, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 447}
+{"episode_index": 5, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 415}
+{"episode_index": 6, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 393}
+{"episode_index": 7, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 434}
+{"episode_index": 8, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 422}
+{"episode_index": 9, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 390}
+{"episode_index": 10, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 447}
+{"episode_index": 11, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 435}
+{"episode_index": 12, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 434}
+{"episode_index": 13, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 393}
+{"episode_index": 14, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 443}
+{"episode_index": 15, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 435}
+{"episode_index": 16, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 434}
+{"episode_index": 17, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 390}
+{"episode_index": 18, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 422}
+{"episode_index": 19, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 390}
+{"episode_index": 20, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 435}
+{"episode_index": 21, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 447}
+{"episode_index": 22, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 413}
+{"episode_index": 23, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 447}
+{"episode_index": 24, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 413}
+{"episode_index": 25, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 413}
+{"episode_index": 26, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 447}
+{"episode_index": 27, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 411}
+{"episode_index": 28, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 435}
+{"episode_index": 29, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 411}
+{"episode_index": 30, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 443}
+{"episode_index": 31, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 422}
+{"episode_index": 32, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 443}
+{"episode_index": 33, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 411}
+{"episode_index": 34, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 435}
+{"episode_index": 35, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 415}
+{"episode_index": 36, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 447}
+{"episode_index": 37, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 422}
+{"episode_index": 38, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 443}
+{"episode_index": 39, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 411}
+{"episode_index": 40, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 413}
+{"episode_index": 41, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 390}
+{"episode_index": 42, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 390}
+{"episode_index": 43, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 443}
+{"episode_index": 44, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 422}
+{"episode_index": 45, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 413}
+{"episode_index": 46, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 415}
+{"episode_index": 47, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 447}
+{"episode_index": 48, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 422}
+{"episode_index": 49, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 393}
+{"episode_index": 50, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 422}
+{"episode_index": 51, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 422}
+{"episode_index": 52, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 435}
+{"episode_index": 53, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 411}
+{"episode_index": 54, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 434}
+{"episode_index": 55, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 435}
+{"episode_index": 56, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 411}
+{"episode_index": 57, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 435}
+{"episode_index": 58, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 411}
+{"episode_index": 59, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 411}
+{"episode_index": 60, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 393}
+{"episode_index": 61, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 411}
+{"episode_index": 62, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 422}
+{"episode_index": 63, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 435}
+{"episode_index": 64, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 434}
+{"episode_index": 65, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 393}
+{"episode_index": 66, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 422}
+{"episode_index": 67, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 411}
+{"episode_index": 68, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 443}
+{"episode_index": 69, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 443}
+{"episode_index": 70, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 393}
+{"episode_index": 71, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 390}
+{"episode_index": 72, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 415}
+{"episode_index": 73, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 434}
+{"episode_index": 74, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 443}
+{"episode_index": 75, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 422}
+{"episode_index": 76, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 443}
+{"episode_index": 77, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 390}
+{"episode_index": 78, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 415}
+{"episode_index": 79, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 447}
+{"episode_index": 80, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 435}
+{"episode_index": 81, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 413}
+{"episode_index": 82, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 435}
+{"episode_index": 83, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 422}
+{"episode_index": 84, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 422}
+{"episode_index": 85, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 422}
+{"episode_index": 86, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 393}
+{"episode_index": 87, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 447}
+{"episode_index": 88, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 411}
+{"episode_index": 89, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 415}
+{"episode_index": 90, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 411}
+{"episode_index": 91, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 411}
+{"episode_index": 92, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 447}
+{"episode_index": 93, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 434}
+{"episode_index": 94, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 413}
+{"episode_index": 95, "tasks": ["Take the remote from the coffee table and put it into the remote control holder."], "length": 434}
+{"episode_index": 96, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 393}
+{"episode_index": 97, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 413}
+{"episode_index": 98, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 390}
+{"episode_index": 99, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 393}
+{"episode_index": 100, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 413}
+{"episode_index": 101, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 390}
+{"episode_index": 102, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 393}
+{"episode_index": 103, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 393}
+{"episode_index": 104, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 411}
+{"episode_index": 105, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 415}
+{"episode_index": 106, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 390}
+{"episode_index": 107, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 443}
+{"episode_index": 108, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 393}
+{"episode_index": 109, "tasks": ["Pick up the remote control from the coffee table and place it in the remote holder."], "length": 413}
+{"episode_index": 110, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 422}
+{"episode_index": 111, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 411}
+{"episode_index": 112, "tasks": ["Pick up the remote control from the coffee table and place it into the remote control holder."], "length": 435}
+{"episode_index": 113, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 413}
+{"episode_index": 114, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 447}
+{"episode_index": 115, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 434}
+{"episode_index": 116, "tasks": ["Move the remote control from the coffee table to its holder."], "length": 434}
+{"episode_index": 117, "tasks": ["Lift the remote control off the coffee table and set it into the remote holder."], "length": 434}
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diff --git a/simple_pnp/task5/meta/episodes_stats.jsonl b/simple_pnp/task5/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30f881ee36f44c4f0927ab8578826aa6b23ad796
--- /dev/null
+++ b/simple_pnp/task5/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task5/meta/info.json b/simple_pnp/task5/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5a9aff992bf5e7596970c0bb1256401e050b52
--- /dev/null
+++ b/simple_pnp/task5/meta/info.json
@@ -0,0 +1,350 @@
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+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task5/meta/modality.json b/simple_pnp/task5/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task5/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task5/meta/tasks.jsonl b/simple_pnp/task5/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..790f8f6959ac1d40f46a14f1e7cfa681b23fd03c
--- /dev/null
+++ b/simple_pnp/task5/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the remote control from the coffee table and place it into the remote control holder."}
+{"task_index": 1, "task": "Pick up the remote control from the coffee table and place it in the remote holder."}
+{"task_index": 2, "task": "Take the remote from the coffee table and put it into the remote control holder."}
+{"task_index": 3, "task": "Move the remote control from the coffee table to its holder."}
+{"task_index": 4, "task": "Lift the remote control off the coffee table and set it into the remote holder."}
diff --git a/simple_pnp/task6/meta/episodes.jsonl b/simple_pnp/task6/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b54225c72ce3e0ce0760263aaa2d305aec35195
--- /dev/null
+++ b/simple_pnp/task6/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 450}
+{"episode_index": 1, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 450}
+{"episode_index": 2, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 450}
+{"episode_index": 3, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 450}
+{"episode_index": 4, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 450}
+{"episode_index": 5, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 450}
+{"episode_index": 6, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 450}
+{"episode_index": 7, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 450}
+{"episode_index": 8, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 450}
+{"episode_index": 9, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 450}
+{"episode_index": 10, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 450}
+{"episode_index": 11, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 450}
+{"episode_index": 12, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 450}
+{"episode_index": 13, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 450}
+{"episode_index": 14, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 450}
+{"episode_index": 15, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 408}
+{"episode_index": 16, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 408}
+{"episode_index": 17, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 408}
+{"episode_index": 18, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 408}
+{"episode_index": 19, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 408}
+{"episode_index": 20, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 408}
+{"episode_index": 21, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 408}
+{"episode_index": 22, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 408}
+{"episode_index": 23, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 408}
+{"episode_index": 24, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 408}
+{"episode_index": 25, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 408}
+{"episode_index": 26, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 408}
+{"episode_index": 27, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 408}
+{"episode_index": 28, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 408}
+{"episode_index": 29, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 408}
+{"episode_index": 30, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 408}
+{"episode_index": 31, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 408}
+{"episode_index": 32, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 408}
+{"episode_index": 33, "tasks": ["Take the perfume off the vanity table and put it in the cosmetics rack."], "length": 408}
+{"episode_index": 34, "tasks": ["Move the perfume from the vanity table to the cosmetics rack."], "length": 408}
+{"episode_index": 35, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 450}
+{"episode_index": 36, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 450}
+{"episode_index": 37, "tasks": ["Lift the perfume from the vanity table and set it into the cosmetics rack."], "length": 450}
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+{"episode_index": 40, "tasks": ["Pick up the perfume from the vanity table and place it into the cosmetics rack."], "length": 396}
+{"episode_index": 41, "tasks": ["Pick up the perfume from the vanity table and place it in the cosmetics rack."], "length": 396}
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diff --git a/simple_pnp/task6/meta/episodes_stats.jsonl b/simple_pnp/task6/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bcfe2a1c63a1e049df3ae6fdfb901a90f082af12
--- /dev/null
+++ b/simple_pnp/task6/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task6/meta/info.json b/simple_pnp/task6/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..60db9f401bcde7bcacbf51c0adde8a5c773d40a4
--- /dev/null
+++ b/simple_pnp/task6/meta/info.json
@@ -0,0 +1,350 @@
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+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task6/meta/modality.json b/simple_pnp/task6/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task6/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task6/meta/tasks.jsonl b/simple_pnp/task6/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3476fce837f9f920c45707c498e0629e59f4e3f
--- /dev/null
+++ b/simple_pnp/task6/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the perfume from the vanity table and place it into the cosmetics rack."}
+{"task_index": 1, "task": "Pick up the perfume from the vanity table and place it in the cosmetics rack."}
+{"task_index": 2, "task": "Lift the perfume from the vanity table and set it into the cosmetics rack."}
+{"task_index": 3, "task": "Take the perfume off the vanity table and put it in the cosmetics rack."}
+{"task_index": 4, "task": "Move the perfume from the vanity table to the cosmetics rack."}
diff --git a/simple_pnp/task7/meta/episodes.jsonl b/simple_pnp/task7/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b37c18842bcef97adbb86fee439edbf72aac392
--- /dev/null
+++ b/simple_pnp/task7/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 319}
+{"episode_index": 1, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 319}
+{"episode_index": 2, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 319}
+{"episode_index": 3, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 319}
+{"episode_index": 4, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 319}
+{"episode_index": 5, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 319}
+{"episode_index": 6, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 319}
+{"episode_index": 7, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 319}
+{"episode_index": 8, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 319}
+{"episode_index": 9, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 319}
+{"episode_index": 10, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 319}
+{"episode_index": 11, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 319}
+{"episode_index": 12, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 319}
+{"episode_index": 13, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 319}
+{"episode_index": 14, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 319}
+{"episode_index": 15, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 322}
+{"episode_index": 16, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 322}
+{"episode_index": 17, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 322}
+{"episode_index": 18, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 322}
+{"episode_index": 19, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 322}
+{"episode_index": 20, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 322}
+{"episode_index": 21, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 322}
+{"episode_index": 22, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 322}
+{"episode_index": 23, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 322}
+{"episode_index": 24, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 322}
+{"episode_index": 25, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 322}
+{"episode_index": 26, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 322}
+{"episode_index": 27, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 322}
+{"episode_index": 28, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 322}
+{"episode_index": 29, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 322}
+{"episode_index": 30, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 322}
+{"episode_index": 31, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 322}
+{"episode_index": 32, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 322}
+{"episode_index": 33, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 322}
+{"episode_index": 34, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 322}
+{"episode_index": 35, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 319}
+{"episode_index": 36, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 319}
+{"episode_index": 37, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 319}
+{"episode_index": 38, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 319}
+{"episode_index": 39, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 319}
+{"episode_index": 40, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 323}
+{"episode_index": 41, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 323}
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+{"episode_index": 43, "tasks": ["Take the salt off the counter and put it in the spice rack."], "length": 323}
+{"episode_index": 44, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 323}
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+{"episode_index": 50, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 323}
+{"episode_index": 51, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 323}
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+{"episode_index": 59, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 326}
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+{"episode_index": 81, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 325}
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+{"episode_index": 169, "tasks": ["Move the salt from the countertop to the spice rack."], "length": 396}
+{"episode_index": 170, "tasks": ["Pick up the salt from the countertop and place it into the spice rack."], "length": 396}
+{"episode_index": 171, "tasks": ["Pick up the salt from the countertop and place it in the spice rack."], "length": 396}
+{"episode_index": 172, "tasks": ["Lift the salt from the countertop and set it into the spice rack."], "length": 396}
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diff --git a/simple_pnp/task7/meta/episodes_stats.jsonl b/simple_pnp/task7/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53fa4fb65b3db42e85cb6b89d4952623370d9b38
--- /dev/null
+++ b/simple_pnp/task7/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task7/meta/info.json b/simple_pnp/task7/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17876b926b14391c85799b86a856361c0f64863
--- /dev/null
+++ b/simple_pnp/task7/meta/info.json
@@ -0,0 +1,350 @@
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+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task7/meta/modality.json b/simple_pnp/task7/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task7/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task7/meta/tasks.jsonl b/simple_pnp/task7/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3a6e3783f7f16e9d6166b9bc862fb85f32f840c
--- /dev/null
+++ b/simple_pnp/task7/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the salt from the countertop and place it into the spice rack."}
+{"task_index": 1, "task": "Pick up the salt from the countertop and place it in the spice rack."}
+{"task_index": 2, "task": "Lift the salt from the countertop and set it into the spice rack."}
+{"task_index": 3, "task": "Take the salt off the counter and put it in the spice rack."}
+{"task_index": 4, "task": "Move the salt from the countertop to the spice rack."}
diff --git a/simple_pnp/task8/meta/info.json b/simple_pnp/task8/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..97da5e40722a4c1a350e11878e47d570b781c43d
--- /dev/null
+++ b/simple_pnp/task8/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 65780,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task9/meta/episodes.jsonl b/simple_pnp/task9/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ee2aae7920d50c4fd4513dc11dffef15ef6c1c9
--- /dev/null
+++ b/simple_pnp/task9/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 736}
+{"episode_index": 1, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 778}
+{"episode_index": 2, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 739}
+{"episode_index": 3, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 778}
+{"episode_index": 4, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 739}
+{"episode_index": 5, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 778}
+{"episode_index": 6, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 757}
+{"episode_index": 7, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 755}
+{"episode_index": 8, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 745}
+{"episode_index": 9, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 778}
+{"episode_index": 10, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 755}
+{"episode_index": 11, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 754}
+{"episode_index": 12, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 757}
+{"episode_index": 13, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 755}
+{"episode_index": 14, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 753}
+{"episode_index": 15, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 757}
+{"episode_index": 16, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 757}
+{"episode_index": 17, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 753}
+{"episode_index": 18, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 757}
+{"episode_index": 19, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 773}
+{"episode_index": 20, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 773}
+{"episode_index": 21, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 753}
+{"episode_index": 22, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 736}
+{"episode_index": 23, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 745}
+{"episode_index": 24, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 778}
+{"episode_index": 25, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 736}
+{"episode_index": 26, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 745}
+{"episode_index": 27, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 755}
+{"episode_index": 28, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 739}
+{"episode_index": 29, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 739}
+{"episode_index": 30, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 754}
+{"episode_index": 31, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 783}
+{"episode_index": 32, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 773}
+{"episode_index": 33, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 753}
+{"episode_index": 34, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 755}
+{"episode_index": 35, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 773}
+{"episode_index": 36, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 773}
+{"episode_index": 37, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 783}
+{"episode_index": 38, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 755}
+{"episode_index": 39, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 745}
+{"episode_index": 40, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 736}
+{"episode_index": 41, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 778}
+{"episode_index": 42, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 754}
+{"episode_index": 43, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 773}
+{"episode_index": 44, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 736}
+{"episode_index": 45, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 736}
+{"episode_index": 46, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 773}
+{"episode_index": 47, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 753}
+{"episode_index": 48, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 778}
+{"episode_index": 49, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 757}
+{"episode_index": 50, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 736}
+{"episode_index": 51, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 778}
+{"episode_index": 52, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 754}
+{"episode_index": 53, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 783}
+{"episode_index": 54, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."], "length": 755}
+{"episode_index": 55, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 745}
+{"episode_index": 56, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 753}
+{"episode_index": 57, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 778}
+{"episode_index": 58, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 757}
+{"episode_index": 59, "tasks": ["Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."], "length": 736}
+{"episode_index": 60, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 754}
+{"episode_index": 61, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 783}
+{"episode_index": 62, "tasks": ["Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."], "length": 778}
+{"episode_index": 63, "tasks": ["Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."], "length": 754}
+{"episode_index": 64, "tasks": ["Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."], "length": 755}
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diff --git a/simple_pnp/task9/meta/episodes_stats.jsonl b/simple_pnp/task9/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29a3bb244e5500e32e337c599170924843a8155d
--- /dev/null
+++ b/simple_pnp/task9/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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2.454641980875749e-05, 0.0008427908760495484, 1.8318996808375232e-05, 3.879738869727589e-05, 0.001768435351550579, 3.9379330701194704e-05, 0.001768820802681148], "count": [773]}, "state.base": {"min": [-6.138271402278406e-08, 3.7094278759752797e-09, -5.029428211855702e-05], "max": [0.2000042200088501, 0.5341514945030212, 4.7996010835049674e-05], "mean": [0.19132255017757416, 0.3206826150417328, -5.228657755651511e-07], "std": [0.038573067635297775, 0.18640632927417755, 1.570659878780134e-05], "count": [773]}, "action.base": {"min": [0.0, 0.0, 0.0], "max": [0.19999998807907104, 0.5341509580612183, 0.0], "mean": [0.19133104383945465, 0.3206847608089447, 0.0], "std": [0.03855225443840027, 0.18640375137329102, 0.0], "count": [773]}, "action.base_delta": {"min": [0.0, -0.009999999776482582, 0.0], "max": [0.009999999776482582, 0.009999999776482582, 0.0], "mean": [0.00025873223785310984, 6.211471918504685e-05, 0.0], "std": [0.0015875694807618856, 0.003618324175477028, 0.0], "count": [773]}, "video.top_camera_view": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9803921568627451]], [[0.9764705882352941]]], "mean": [[[0.553050934786015]], [[0.4745333652296535]], [[0.38496820160712686]]], "std": [[[0.2785510337882563]], [[0.2634917684456833]], [[0.24346025073171318]]], "count": [146]}, "video.left_camera_view": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9882352941176471]]], "mean": [[[0.6291901762131793]], [[0.5824348755483928]], [[0.5235060812852539]]], "std": [[[0.3002223373865662]], [[0.2857203696711327]], [[0.27510326321289624]]], "count": [146]}, "video.right_camera_view": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9568627450980393]], [[0.9568627450980393]]], "mean": [[[0.3701823056562808]], [[0.30485758432939386]], [[0.23861974969782435]]], "std": [[[0.29611035308417816]], [[0.26414240140420503]], [[0.22815452437812322]]], "count": [146]}, "video.overlook_camera_view": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.984313725490196]], [[0.9803921568627451]]], "mean": [[[0.6010023628458233]], [[0.540941849371027]], [[0.47886460571671596]]], "std": [[[0.2833698685437459]], [[0.2976923225947406]], [[0.31056749975097936]]], "count": [146]}, "timestamp": {"min": [0.0], "max": [51.46666666666667], "mean": [25.73333333333333], "std": [14.876379487854788], "count": [773]}, "frame_index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "episode_index": {"min": [199], "max": [199], "mean": [199.0], "std": [0.0], "count": [773]}, "index": {"min": [150687], "max": [151459], "mean": [151073.0], "std": [223.1456923178218], "count": [773]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [773]}}}
diff --git a/simple_pnp/task9/meta/info.json b/simple_pnp/task9/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf078a8ae92aead1fb8df95ee9c95035fec219df
--- /dev/null
+++ b/simple_pnp/task9/meta/info.json
@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 151460,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
+        "state.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "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/simple_pnp/task9/meta/modality.json b/simple_pnp/task9/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task9/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task9/meta/tasks.jsonl b/simple_pnp/task9/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e297e9394a2280d458261b757e2e7862d00ea40
--- /dev/null
+++ b/simple_pnp/task9/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Take the teacup on the desk and put it in the empty saucer, then put the teapot in the tray."}
+{"task_index": 1, "task": "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."}
+{"task_index": 2, "task": "Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray."}
+{"task_index": 3, "task": "Move the teacup from the desk to the empty saucer first, then move the teapot into the tray."}
+{"task_index": 4, "task": "Lift the teacup from the desk and set it into the empty saucer, then move the teapot into the tray."}