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-{"episode_index": 3196, "tasks": ["Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand."], "length": 817}
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-{"episode_index": 3199, "tasks": ["Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand."], "length": 561}
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-{"episode_index": 3205, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 277}
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-{"episode_index": 3209, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 273}
-{"episode_index": 3210, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
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-{"episode_index": 3213, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3222, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3224, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3233, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 277}
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-{"episode_index": 3237, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 273}
-{"episode_index": 3238, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 278}
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-{"episode_index": 3242, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 278}
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-{"episode_index": 3245, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3247, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 276}
-{"episode_index": 3248, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 276}
-{"episode_index": 3249, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 281}
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-{"episode_index": 3251, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 277}
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-{"episode_index": 3254, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 281}
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-{"episode_index": 3256, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
-{"episode_index": 3257, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 280}
-{"episode_index": 3258, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 279}
-{"episode_index": 3259, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3261, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
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-{"episode_index": 3263, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
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-{"episode_index": 3268, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 273}
-{"episode_index": 3269, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
-{"episode_index": 3270, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3272, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 277}
-{"episode_index": 3273, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
-{"episode_index": 3274, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
-{"episode_index": 3275, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 273}
-{"episode_index": 3276, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
-{"episode_index": 3277, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
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-{"episode_index": 3281, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 277}
-{"episode_index": 3282, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 278}
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-{"episode_index": 3284, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 272}
-{"episode_index": 3285, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
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-{"episode_index": 3288, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 290}
-{"episode_index": 3289, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
-{"episode_index": 3290, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 272}
-{"episode_index": 3291, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
-{"episode_index": 3292, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 277}
-{"episode_index": 3293, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
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-{"episode_index": 3295, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 272}
-{"episode_index": 3296, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
-{"episode_index": 3297, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 275}
-{"episode_index": 3298, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 271}
-{"episode_index": 3299, "tasks": ["Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations."], "length": 274}
-{"episode_index": 3300, "tasks": ["Swap the two blocks using the empty mat, pressing the button after each move."], "length": 444}
-{"episode_index": 3301, "tasks": ["Swap the two blocks using the empty mat, pressing the button after each move."], "length": 439}
-{"episode_index": 3302, "tasks": ["Swap the two blocks using the empty mat, pressing the button after each move."], "length": 432}
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-{"episode_index": 3305, "tasks": ["Swap the two blocks using the empty mat, pressing the button after each move."], "length": 440}
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-{"episode_index": 3307, "tasks": ["Swap the two blocks using the empty mat, pressing the button after each move."], "length": 439}
-{"episode_index": 3308, "tasks": ["Swap the two blocks using the empty mat, pressing the button after each move."], "length": 438}
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diff --git a/data/RoboDojo_lerobot_v21_video/meta/episodes_stats.jsonl b/data/RoboDojo_lerobot_v21_video/meta/episodes_stats.jsonl
index 819c2d69d00975410cd34af1749e14d67ebb7048..aab5a8ad6e596eadf2407fc7b736439ad97d37b3 100644
--- a/data/RoboDojo_lerobot_v21_video/meta/episodes_stats.jsonl
+++ b/data/RoboDojo_lerobot_v21_video/meta/episodes_stats.jsonl
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6d88db1edb7f76a09cccf6af389d2b5f4bd5c3a384ad96246e899f3c82bb31aa
-size 13640208
+oid sha256:231d2a0c7abae93834b743cfcfadc63ef1cf7a0435a0fd97c5f0e0aa55ca394d
+size 14328820
diff --git a/data/RoboDojo_lerobot_v21_video/meta/info.json b/data/RoboDojo_lerobot_v21_video/meta/info.json
index 17c6da171767f7835f625bcb37d8c32ae0307e36..0165b19aa60a0c0af8e17ba4a4448e991ac901e6 100644
--- a/data/RoboDojo_lerobot_v21_video/meta/info.json
+++ b/data/RoboDojo_lerobot_v21_video/meta/info.json
@@ -2,9 +2,9 @@
     "codebase_version": "v2.1",
     "robot_type": "unified_robot",
     "total_episodes": 3500,
-    "total_frames": 1856102,
+    "total_frames": 1859602,
     "total_tasks": 35,
-    "total_videos": 10500,
+    "total_videos": 14000,
     "total_chunks": 4,
     "chunks_size": 1000,
     "fps": 25,
@@ -131,6 +131,29 @@
                 "has_audio": false
             }
         },
+        "observation.images.cam_wrist": {
+            "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": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
         "timestamp": {
             "dtype": "float32",
             "shape": [
@@ -167,4 +190,4 @@
             "names": null
         }
     }
-}
+}
\ No newline at end of file
diff --git a/data/RoboDojo_lerobot_v21_video/meta/modality.json b/data/RoboDojo_lerobot_v21_video/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c556e7fc613e60cf23ad764c49bf17f629b444
--- /dev/null
+++ b/data/RoboDojo_lerobot_v21_video/meta/modality.json
@@ -0,0 +1,62 @@
+{
+  "action": {
+    "left_joints": {
+      "start": 0,
+      "end": 6,
+      "original_key": "action"
+    },
+    "left_gripper": {
+      "start": 6,
+      "end": 7,
+      "original_key": "action"
+    },
+    "right_joints": {
+      "start": 7,
+      "end": 13,
+      "original_key": "action"
+    },
+    "right_gripper": {
+      "start": 13,
+      "end": 14,
+      "original_key": "action"
+    }
+  },
+  "state": {
+    "left_joints": {
+      "start": 0,
+      "end": 6,
+      "original_key": "observation.state"
+    },
+    "left_gripper": {
+      "start": 6,
+      "end": 7,
+      "original_key": "observation.state"
+    },
+    "right_joints": {
+      "start": 7,
+      "end": 13,
+      "original_key": "observation.state"
+    },
+    "right_gripper": {
+      "start": 13,
+      "end": 14,
+      "original_key": "observation.state"
+    }
+  },
+  "video": {
+    "cam_high": {
+      "original_key": "observation.images.cam_high"
+    },
+    "cam_left_wrist": {
+      "original_key": "observation.images.cam_left_wrist"
+    },
+    "cam_right_wrist": {
+      "original_key": "observation.images.cam_right_wrist"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  }
+}
diff --git a/data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl b/data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl
index b249ec9b9e0e18a3d2230a69b56fa2f342de8589..5bb8d8c434df9bcae5336f6d99ec803970059a8d 100644
--- a/data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl
+++ b/data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl
@@ -15,7 +15,7 @@
 {"task_index": 14, "task": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles."}
 {"task_index": 15, "task": "Pick up two slices of bread, place them into the toaster, and press the lever down."}
 {"task_index": 16, "task": "Remember the first object on the conveyor, then pick the matching object when it appears again."}
-{"task_index": 17, "task": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame."}
+{"task_index": 17, "task": "Place the mouse on the mouse pad, push the keyboard into the frame, put the figurine on the stand, place the alarm clock on the drawer, then open the drawer and put all remaining miscellaneous items inside."}
 {"task_index": 18, "task": "Place all the objects into the box with their front sides facing left."}
 {"task_index": 19, "task": "Pick up the mallet and strike all xylophone keys from left to right."}
 {"task_index": 20, "task": "Place all stacking toy pieces onto the correct pegs."}
diff --git a/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000000.mp4 b/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000000.mp4
index a52c6b823d969b427c4c886270aa31b1238dc166..4ff669001a77494d0cf02a50ef186ee37a19dcc0 100644
--- a/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000000.mp4
+++ b/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000000.mp4
@@ -1,3 +1,3 @@
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-size 7893864
+oid sha256:773496d359ff507789dfdcf8abafe83a97814e74585e8c17c197bc61bc452cfd
+size 7953201
diff --git a/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000001.mp4 b/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000001.mp4
index f6f00d1d3f0e1a71935e216daee02866e95945e7..0ce90e17614a5cc3e56a6e58c54bd19d73db7243 100644
--- a/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000001.mp4
+++ b/data/RoboDojo_lerobot_v21_video/videos/chunk-000/observation.images.cam_high/episode_000001.mp4
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index d3a5dd06c3fa5d4632e6ae26827f349e17826375..48c822d86b739d09a8ff58e39742182be859302d 100644
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