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+3,3,Pick up the banana and put it in the blue bowl.,grb-b,3,grb,b,18
+4,4,Put the banana in the 3rd bowl from the left.,grb-b,4,grb,b,18
+5,5,Put the banana in the 3rd bowl from the left from the robot perspective.,grb-b,5,grb,b,18
+6,6,Put the banana in the 1st bowl from the right.,grb-b,6,grb,b,18
+7,7,Put the banana in the rightmost bowl.,grb-b,7,grb,b,18
+8,8,Put the banana in the rightmost bowl from the robot perspective.,grb-b,8,grb,b,18
+9,9,Put the banana in the bowl that is not green and not red.,grb-b,9,grb,b,18
+10,10,Put the banana in the bowl that is neither red nor blue.,grb-g,0,grb,g,18
+11,11,Place the banana into the only bowl that is not red or blue.,grb-g,1,grb,g,18
+12,12,Put the banana in the bowl on the left of the red bowl.,grb-g,2,grb,g,18
+13,13,Put the banana in the bowl to the left of the red bowl from the robot perspective.,grb-g,3,grb,g,18
+14,14,Put the banana in the bowl on the left of the blue bowl.,grb-g,4,grb,g,18
+15,15,Put the banana in the bowl to the left of the blue bowl from the robot perspective.,grb-g,5,grb,g,18
+16,16,"Put the banana in the green bowl, which is the leftmost bowl.",grb-g,6,grb,g,18
+17,17,Place the banana in the leftmost green bowl.,grb-g,7,grb,g,18
+18,18,Put the banana in the green bowl.,grb-g,8,grb,g,18
+19,19,Put the banana in the green colored bowl.,grb-g,9,grb,g,18
+20,20,Put the banana in the red bowl.,grb-r,0,grb,r,20
+21,21,Put the banana in the red colored bowl.,grb-r,1,grb,r,20
+22,22,Place the banana into the red bowl.,grb-r,2,grb,r,20
+23,23,Pick up the banana and put it in the red bowl.,grb-r,3,grb,r,20
+24,24,Put the banana in the 2nd bowl from the left.,grb-r,4,grb,r,20
+25,25,Put the banana in the 2nd bowl from the left from the robot perspective.,grb-r,5,grb,r,20
+26,26,Put the banana in the 2nd bowl from the right.,grb-r,6,grb,r,20
+27,27,Put the banana in the middle bowl.,grb-r,7,grb,r,20
+28,28,Put the banana in the middle bowl from the robot perspective.,grb-r,8,grb,r,20
+29,29,Put the banana in the bowl that is not green and not blue.,grb-r,9,grb,r,20
+30,30,Put the banana in the bowl that is neither red nor green.,rbg-b,0,rbg,b,20
+31,31,Place the banana into the only bowl that is not red or green.,rbg-b,1,rbg,b,20
+32,32,Put the banana in the bowl on the right of the red bowl.,rbg-b,2,rbg,b,20
+33,33,Put the banana in the bowl to the right of the red bowl from the robot perspective.,rbg-b,3,rbg,b,20
+34,34,Put the banana in the bowl on the left of the green bowl.,rbg-b,4,rbg,b,20
+35,35,Put the banana in the bowl to the left of the green bowl from the robot perspective.,rbg-b,5,rbg,b,20
+36,36,Put the banana in the bowl between the red bowl and the green bowl.,rbg-b,6,rbg,b,20
+37,37,Place the banana into the bowl in between red and green.,rbg-b,7,rbg,b,20
+38,38,"Put the banana in the blue bowl, which is the middle bowl.",rbg-b,8,rbg,b,20
+39,39,Place the banana in the middle blue bowl.,rbg-b,9,rbg,b,20
+40,40,Put the banana in the 3rd bowl from the left.,rbg-g,0,rbg,g,18
+41,41,Put the banana in the 3rd bowl from the left from the robot perspective.,rbg-g,1,rbg,g,18
+42,42,Put the banana in the 1st bowl from the right.,rbg-g,2,rbg,g,18
+43,43,Put the banana in the rightmost bowl.,rbg-g,3,rbg,g,18
+44,44,Put the banana in the rightmost bowl from the robot perspective.,rbg-g,4,rbg,g,18
+45,45,Put the banana in the bowl that is not red and not blue.,rbg-g,5,rbg,g,18
+46,46,Put the banana in the bowl that is neither red nor blue.,rbg-g,6,rbg,g,18
+47,47,Place the banana into the only bowl that is not red or blue.,rbg-g,7,rbg,g,18
+48,48,Put the banana in the bowl on the right of the red bowl.,rbg-g,8,rbg,g,18
+49,49,Put the banana in the bowl to the right of the red bowl from the robot perspective.,rbg-g,9,rbg,g,18
+50,50,Put the banana in the bowl on the left of the green bowl.,rbg-r,0,rbg,r,18
+51,51,Put the banana in the bowl to the left of the green bowl from the robot perspective.,rbg-r,1,rbg,r,18
+52,52,"Put the banana in the red bowl, which is the leftmost bowl.",rbg-r,2,rbg,r,18
+53,53,Place the banana in the leftmost red bowl.,rbg-r,3,rbg,r,18
+54,54,Put the banana in the red bowl.,rbg-r,4,rbg,r,18
+55,55,Put the banana in the red colored bowl.,rbg-r,5,rbg,r,18
+56,56,Place the banana into the red bowl.,rbg-r,6,rbg,r,18
+57,57,Pick up the banana and put it in the red bowl.,rbg-r,7,rbg,r,18
+58,58,Put the banana in the 1st bowl from the left.,rbg-r,8,rbg,r,18
+59,59,Put the banana in the 1st bowl from the left from the robot perspective.,rbg-r,9,rbg,r,18
+60,60,Put the banana in the 1st bowl from the right.,rgb-b,0,rgb,b,18
+61,61,Put the banana in the rightmost bowl.,rgb-b,1,rgb,b,18
+62,62,Put the banana in the rightmost bowl from the robot perspective.,rgb-b,2,rgb,b,18
+63,63,Put the banana in the bowl that is not red and not green.,rgb-b,3,rgb,b,18
+64,64,Put the banana in the bowl that is neither red nor green.,rgb-b,4,rgb,b,18
+65,65,Place the banana into the only bowl that is not red or green.,rgb-b,5,rgb,b,18
+66,66,Put the banana in the bowl on the right of the red bowl.,rgb-b,6,rgb,b,18
+67,67,Put the banana in the bowl to the right of the red bowl from the robot perspective.,rgb-b,7,rgb,b,18
+68,68,Put the banana in the bowl on the right of the green bowl.,rgb-b,8,rgb,b,18
+69,69,Put the banana in the bowl to the right of the green bowl from the robot perspective.,rgb-b,9,rgb,b,18
+70,70,Put the banana in the bowl that is neither red nor blue.,rgb-g,0,rgb,g,20
+71,71,Place the banana into the only bowl that is not red or blue.,rgb-g,1,rgb,g,20
+72,72,Put the banana in the bowl on the right of the red bowl.,rgb-g,2,rgb,g,20
+73,73,Put the banana in the bowl to the right of the red bowl from the robot perspective.,rgb-g,3,rgb,g,20
+74,74,Put the banana in the bowl on the left of the blue bowl.,rgb-g,4,rgb,g,20
+75,75,Put the banana in the bowl to the left of the blue bowl from the robot perspective.,rgb-g,5,rgb,g,20
+76,76,Put the banana in the bowl between the red bowl and the blue bowl.,rgb-g,6,rgb,g,20
+77,77,Place the banana into the bowl in between red and blue.,rgb-g,7,rgb,g,20
+78,78,"Put the banana in the green bowl, which is the middle bowl.",rgb-g,8,rgb,g,20
+79,79,Place the banana in the middle green bowl.,rgb-g,9,rgb,g,20
+80,80,Put the banana in the leftmost bowl from the robot perspective.,rgb-r,0,rgb,r,18
+81,81,Put the banana in the bowl that is not green and not blue.,rgb-r,1,rgb,r,18
+82,82,Put the banana in the bowl that is neither green nor blue.,rgb-r,2,rgb,r,18
+83,83,Place the banana into the only bowl that is not green or blue.,rgb-r,3,rgb,r,18
+84,84,Put the banana in the bowl on the left of the green bowl.,rgb-r,4,rgb,r,18
+85,85,Put the banana in the bowl to the left of the green bowl from the robot perspective.,rgb-r,5,rgb,r,18
+86,86,Put the banana in the bowl on the left of the blue bowl.,rgb-r,6,rgb,r,18
+87,87,Put the banana in the bowl to the left of the blue bowl from the robot perspective.,rgb-r,7,rgb,r,18
+88,88,"Put the banana in the red bowl, which is the leftmost bowl.",rgb-r,8,rgb,r,18
+89,89,Place the banana in the leftmost red bowl.,rgb-r,9,rgb,r,18
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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75065abbbbd4be3cb71133c141900c4389bd4a5
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,104 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "so_follower",
+  "total_episodes": 90,
+  "total_frames": 16168,
+  "total_tasks": 90,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 15,
+  "splits": {
+    "train": "0:10"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "names": [
+        "shoulder_pan.pos",
+        "shoulder_lift.pos",
+        "elbow_flex.pos",
+        "wrist_flex.pos",
+        "wrist_roll.pos",
+        "gripper.pos"
+      ],
+      "shape": [
+        6
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "names": [
+        "shoulder_pan.pos",
+        "shoulder_lift.pos",
+        "elbow_flex.pos",
+        "wrist_flex.pos",
+        "wrist_roll.pos",
+        "gripper.pos"
+      ],
+      "shape": [
+        6
+      ]
+    },
+    "observation.images.front": {
+      "dtype": "video",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 256,
+        "video.width": 256,
+        "video.codec": "h264",
+        "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
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+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
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+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}
\ No newline at end of file
diff --git a/meta/prompt_bank.json b/meta/prompt_bank.json
new file mode 100644
index 0000000000000000000000000000000000000000..57820c6d2614ec682767381e3933ac567fc35d46
--- /dev/null
+++ b/meta/prompt_bank.json
@@ -0,0 +1,188 @@
+{
+  "grb-b": [
+    "Put the banana in the blue bowl.",
+    "Put the banana in the blue colored bowl.",
+    "Place the banana into the blue bowl.",
+    "Pick up the banana and put it in the blue bowl.",
+    "Put the banana in the 3rd bowl from the left.",
+    "Put the banana in the 3rd bowl from the left from the robot perspective.",
+    "Put the banana in the 1st bowl from the right.",
+    "Put the banana in the rightmost bowl.",
+    "Put the banana in the rightmost bowl from the robot perspective.",
+    "Put the banana in the bowl that is not green and not red.",
+    "Put the banana in the bowl that is neither green nor red.",
+    "Place the banana into the only bowl that is not green or red.",
+    "Put the banana in the bowl on the right of the green bowl.",
+    "Put the banana in the bowl to the right of the green bowl from the robot perspective.",
+    "Put the banana in the bowl on the right of the red bowl.",
+    "Put the banana in the bowl to the right of the red bowl from the robot perspective.",
+    "Put the banana in the blue bowl, which is the rightmost bowl.",
+    "Place the banana in the rightmost blue bowl."
+  ],
+  "grb-g": [
+    "Put the banana in the green bowl.",
+    "Put the banana in the green colored bowl.",
+    "Place the banana into the green bowl.",
+    "Pick up the banana and put it in the green bowl.",
+    "Put the banana in the 1st bowl from the left.",
+    "Put the banana in the 1st bowl from the left from the robot perspective.",
+    "Put the banana in the 3rd bowl from the right.",
+    "Put the banana in the leftmost bowl.",
+    "Put the banana in the leftmost bowl from the robot perspective.",
+    "Put the banana in the bowl that is not red and not blue.",
+    "Put the banana in the bowl that is neither red nor blue.",
+    "Place the banana into the only bowl that is not red or blue.",
+    "Put the banana in the bowl on the left of the red bowl.",
+    "Put the banana in the bowl to the left of the red bowl from the robot perspective.",
+    "Put the banana in the bowl on the left of the blue bowl.",
+    "Put the banana in the bowl to the left of the blue bowl from the robot perspective.",
+    "Put the banana in the green bowl, which is the leftmost bowl.",
+    "Place the banana in the leftmost green bowl."
+  ],
+  "grb-r": [
+    "Put the banana in the red bowl.",
+    "Put the banana in the red colored bowl.",
+    "Place the banana into the red bowl.",
+    "Pick up the banana and put it in the red bowl.",
+    "Put the banana in the 2nd bowl from the left.",
+    "Put the banana in the 2nd bowl from the left from the robot perspective.",
+    "Put the banana in the 2nd bowl from the right.",
+    "Put the banana in the middle bowl.",
+    "Put the banana in the middle bowl from the robot perspective.",
+    "Put the banana in the bowl that is not green and not blue.",
+    "Put the banana in the bowl that is neither green nor blue.",
+    "Place the banana into the only bowl that is not green or blue.",
+    "Put the banana in the bowl on the right of the green bowl.",
+    "Put the banana in the bowl to the right of the green bowl from the robot perspective.",
+    "Put the banana in the bowl on the left of the blue bowl.",
+    "Put the banana in the bowl to the left of the blue bowl from the robot perspective.",
+    "Put the banana in the bowl between the green bowl and the blue bowl.",
+    "Place the banana into the bowl in between green and blue.",
+    "Put the banana in the red bowl, which is the middle bowl.",
+    "Place the banana in the middle red bowl."
+  ],
+  "rbg-b": [
+    "Put the banana in the blue bowl.",
+    "Put the banana in the blue colored bowl.",
+    "Place the banana into the blue bowl.",
+    "Pick up the banana and put it in the blue bowl.",
+    "Put the banana in the 2nd bowl from the left.",
+    "Put the banana in the 2nd bowl from the left from the robot perspective.",
+    "Put the banana in the 2nd bowl from the right.",
+    "Put the banana in the middle bowl.",
+    "Put the banana in the middle bowl from the robot perspective.",
+    "Put the banana in the bowl that is not red and not green.",
+    "Put the banana in the bowl that is neither red nor green.",
+    "Place the banana into the only bowl that is not red or green.",
+    "Put the banana in the bowl on the right of the red bowl.",
+    "Put the banana in the bowl to the right of the red bowl from the robot perspective.",
+    "Put the banana in the bowl on the left of the green bowl.",
+    "Put the banana in the bowl to the left of the green bowl from the robot perspective.",
+    "Put the banana in the bowl between the red bowl and the green bowl.",
+    "Place the banana into the bowl in between red and green.",
+    "Put the banana in the blue bowl, which is the middle bowl.",
+    "Place the banana in the middle blue bowl."
+  ],
+  "rbg-g": [
+    "Put the banana in the green bowl.",
+    "Put the banana in the green colored bowl.",
+    "Place the banana into the green bowl.",
+    "Pick up the banana and put it in the green bowl.",
+    "Put the banana in the 3rd bowl from the left.",
+    "Put the banana in the 3rd bowl from the left from the robot perspective.",
+    "Put the banana in the 1st bowl from the right.",
+    "Put the banana in the rightmost bowl.",
+    "Put the banana in the rightmost bowl from the robot perspective.",
+    "Put the banana in the bowl that is not red and not blue.",
+    "Put the banana in the bowl that is neither red nor blue.",
+    "Place the banana into the only bowl that is not red or blue.",
+    "Put the banana in the bowl on the right of the red bowl.",
+    "Put the banana in the bowl to the right of the red bowl from the robot perspective.",
+    "Put the banana in the bowl on the right of the blue bowl.",
+    "Put the banana in the bowl to the right of the blue bowl from the robot perspective.",
+    "Put the banana in the green bowl, which is the rightmost bowl.",
+    "Place the banana in the rightmost green bowl."
+  ],
+  "rbg-r": [
+    "Put the banana in the red bowl.",
+    "Put the banana in the red colored bowl.",
+    "Place the banana into the red bowl.",
+    "Pick up the banana and put it in the red bowl.",
+    "Put the banana in the 1st bowl from the left.",
+    "Put the banana in the 1st bowl from the left from the robot perspective.",
+    "Put the banana in the 3rd bowl from the right.",
+    "Put the banana in the leftmost bowl.",
+    "Put the banana in the leftmost bowl from the robot perspective.",
+    "Put the banana in the bowl that is not blue and not green.",
+    "Put the banana in the bowl that is neither blue nor green.",
+    "Place the banana into the only bowl that is not blue or green.",
+    "Put the banana in the bowl on the left of the blue bowl.",
+    "Put the banana in the bowl to the left of the blue bowl from the robot perspective.",
+    "Put the banana in the bowl on the left of the green bowl.",
+    "Put the banana in the bowl to the left of the green bowl from the robot perspective.",
+    "Put the banana in the red bowl, which is the leftmost bowl.",
+    "Place the banana in the leftmost red bowl."
+  ],
+  "rgb-b": [
+    "Put the banana in the blue bowl.",
+    "Put the banana in the blue colored bowl.",
+    "Place the banana into the blue bowl.",
+    "Pick up the banana and put it in the blue bowl.",
+    "Put the banana in the 3rd bowl from the left.",
+    "Put the banana in the 3rd bowl from the left from the robot perspective.",
+    "Put the banana in the 1st bowl from the right.",
+    "Put the banana in the rightmost bowl.",
+    "Put the banana in the rightmost bowl from the robot perspective.",
+    "Put the banana in the bowl that is not red and not green.",
+    "Put the banana in the bowl that is neither red nor green.",
+    "Place the banana into the only bowl that is not red or green.",
+    "Put the banana in the bowl on the right of the red bowl.",
+    "Put the banana in the bowl to the right of the red bowl from the robot perspective.",
+    "Put the banana in the bowl on the right of the green bowl.",
+    "Put the banana in the bowl to the right of the green bowl from the robot perspective.",
+    "Put the banana in the blue bowl, which is the rightmost bowl.",
+    "Place the banana in the rightmost blue bowl."
+  ],
+  "rgb-g": [
+    "Put the banana in the green bowl.",
+    "Put the banana in the green colored bowl.",
+    "Place the banana into the green bowl.",
+    "Pick up the banana and put it in the green bowl.",
+    "Put the banana in the 2nd bowl from the left.",
+    "Put the banana in the 2nd bowl from the left from the robot perspective.",
+    "Put the banana in the 2nd bowl from the right.",
+    "Put the banana in the middle bowl.",
+    "Put the banana in the middle bowl from the robot perspective.",
+    "Put the banana in the bowl that is not red and not blue.",
+    "Put the banana in the bowl that is neither red nor blue.",
+    "Place the banana into the only bowl that is not red or blue.",
+    "Put the banana in the bowl on the right of the red bowl.",
+    "Put the banana in the bowl to the right of the red bowl from the robot perspective.",
+    "Put the banana in the bowl on the left of the blue bowl.",
+    "Put the banana in the bowl to the left of the blue bowl from the robot perspective.",
+    "Put the banana in the bowl between the red bowl and the blue bowl.",
+    "Place the banana into the bowl in between red and blue.",
+    "Put the banana in the green bowl, which is the middle bowl.",
+    "Place the banana in the middle green bowl."
+  ],
+  "rgb-r": [
+    "Put the banana in the red bowl.",
+    "Put the banana in the red colored bowl.",
+    "Place the banana into the red bowl.",
+    "Pick up the banana and put it in the red bowl.",
+    "Put the banana in the 1st bowl from the left.",
+    "Put the banana in the 1st bowl from the left from the robot perspective.",
+    "Put the banana in the 3rd bowl from the right.",
+    "Put the banana in the leftmost bowl.",
+    "Put the banana in the leftmost bowl from the robot perspective.",
+    "Put the banana in the bowl that is not green and not blue.",
+    "Put the banana in the bowl that is neither green nor blue.",
+    "Place the banana into the only bowl that is not green or blue.",
+    "Put the banana in the bowl on the left of the green bowl.",
+    "Put the banana in the bowl to the left of the green bowl from the robot perspective.",
+    "Put the banana in the bowl on the left of the blue bowl.",
+    "Put the banana in the bowl to the left of the blue bowl from the robot perspective.",
+    "Put the banana in the red bowl, which is the leftmost bowl.",
+    "Place the banana in the leftmost red bowl."
+  ]
+}
\ No newline at end of file
diff --git a/meta/stats.json b/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc769b25ceb5c79d8f69386eeb3329bca5888fa
--- /dev/null
+++ b/meta/stats.json
@@ -0,0 +1,420 @@
+{
+  "task_index": {
+    "min": [
+      0
+    ],
+    "max": [
+      0
+    ],
+    "mean": [
+      0.0
+    ],
+    "std": [
+      0.0
+    ],
+    "count": [
+      1800
+    ],
+    "q01": [
+      3.999999999999417e-16
+    ],
+    "q10": [
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