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diff --git a/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/annotations.jsonl b/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2fe72cb121b6a16bbebfb71813dde318ce5eeea8
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,89 @@
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+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
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+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "observation.images.head_left": {
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+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
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+                1200,
+                3
+            ],
+            "names": [
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+                "video.channels": 3,
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+        },
+        "observation.images.tactile_raw": {
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+        "episode_index": {
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+        "index": {
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+        "task_index": {
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+            "shape": [
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+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/modality.json b/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
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+    }
+  },
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
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+      "dtype": "float32",
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+  },
+  "action": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/stats.json b/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf9be1e9392c7016b09b330c220bbe0d56137ca8
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_22_19_18_26_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/annotations.jsonl b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..816587cab756c89426219ceeb077beb2141159cd
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,50 @@
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+{"source_uid": "e522111e3257ebaa", "num_frames": 663, "episode_id": "POC22048_2026_06_23_11_31_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Paper_Stapling/season_POC22048_2026_06_23_10_27_00_train/POC22048_2026_06_23_11_31_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Paper_Stapling/season_POC22048_2026_06_23_10_27_00_train/POC22048_2026_06_23_11_31_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Paper_Stapling/season_POC22048_2026_06_23_10_27_00_train/POC22048_2026_06_23_11_31_55_train/train_0.3.0@2026_06_23_11_31_55.hdf5", "tags": {"task_name": "Paper Stapling", "task_instruction": "Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position.", "scene_description": "An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position.", "success_criteria": "The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 135, "id": "subtask-001", "text": "Pick up the stapler from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 136, "end_step": 175, "id": "subtask-002", "text": "Place the stapler beside the A4 paper with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 355, "id": "subtask-003", "text": "Pick up the A4 paper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 460, "id": "subtask-004", "text": "Insert the A4 paper into the stapler slot with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 535, "id": "subtask-005", "text": "Press the stapler to staple the A4 paper with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 580, "id": "subtask-006", "text": "Place the stapled A4 paper back to its original position with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 135, "id": "subtask-001", "text": "Pick up the stapler from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 136, "end_step": 175, "id": "subtask-002", "text": "Place the stapler beside the A4 paper with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 355, "id": "subtask-003", "text": "Pick up the A4 paper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 460, "id": "subtask-004", "text": "Insert the A4 paper into the stapler slot with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 535, "id": "subtask-005", "text": "Press the stapler to staple the A4 paper with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 580, "id": "subtask-006", "text": "Place the stapled A4 paper back to its original position with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 74, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/episodes.jsonl b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7bb926469169c0fbb10a970a7ef668f6aad2aab
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 1007}
+{"episode_index": 1, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 945}
+{"episode_index": 2, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 890}
+{"episode_index": 3, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 869}
+{"episode_index": 4, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 881}
+{"episode_index": 5, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 860}
+{"episode_index": 6, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 874}
+{"episode_index": 7, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 908}
+{"episode_index": 8, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 934}
+{"episode_index": 9, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 968}
+{"episode_index": 10, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 860}
+{"episode_index": 11, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 1027}
+{"episode_index": 12, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 887}
+{"episode_index": 13, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 930}
+{"episode_index": 14, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 915}
+{"episode_index": 15, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 976}
+{"episode_index": 16, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 916}
+{"episode_index": 17, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 882}
+{"episode_index": 18, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 853}
+{"episode_index": 19, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 903}
+{"episode_index": 20, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 876}
+{"episode_index": 21, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 1027}
+{"episode_index": 22, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 946}
+{"episode_index": 23, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 867}
+{"episode_index": 24, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 817}
+{"episode_index": 25, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 841}
+{"episode_index": 26, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 834}
+{"episode_index": 27, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 861}
+{"episode_index": 28, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 878}
+{"episode_index": 29, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 880}
+{"episode_index": 30, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 844}
+{"episode_index": 31, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 919}
+{"episode_index": 32, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 862}
+{"episode_index": 33, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 861}
+{"episode_index": 34, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 924}
+{"episode_index": 35, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 895}
+{"episode_index": 36, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 830}
+{"episode_index": 37, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 1015}
+{"episode_index": 38, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 923}
+{"episode_index": 39, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 1006}
+{"episode_index": 40, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 964}
+{"episode_index": 41, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 884}
+{"episode_index": 42, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 919}
+{"episode_index": 43, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 900}
+{"episode_index": 44, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 923}
+{"episode_index": 45, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 796}
+{"episode_index": 46, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 747}
+{"episode_index": 47, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 702}
+{"episode_index": 48, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 670}
+{"episode_index": 49, "tasks": ["Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."], "length": 663}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/episodes_stats.jsonl b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40b10ef4740f6749cecfec9b28b6fa4122a6ca8f
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/info.json b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa8c5258ac45be41d3fd31082c8ae8fee12cff2
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:50"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/modality.json b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/subtasks.jsonl b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9814c7d674b9b7f7d43f19c44fc42b22427fc424
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the stapler from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Place the stapler beside the A4 paper with the right hand. | Skill: place"}
+{"subtask_index": 2, "subtask": "Pick up the A4 paper from the table with the right hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Insert the A4 paper into the stapler slot with the right hand. | Skill: insert"}
+{"subtask_index": 4, "subtask": "Press the stapler to staple the A4 paper with the right hand. | Skill: press"}
+{"subtask_index": 5, "subtask": "Place the stapled A4 paper back to its original position with the right hand. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/tasks.jsonl b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73795b7a2e38f4d1c41a4c272b98691372b4abb3
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Paper Stapling | Instruction: Pick up the stapler with the right hand and place it beside the A4 paper. Then pick up the paper with the right hand, move it into the stapler slot, press the stapler to staple the paper, and finally place the paper back to its original position. | Scene: An A4 sheet of paper and a stapler are placed on the table. The robot needs to move the stapler beside the paper, staple the paper, and then place the paper back to its original position. | Success: The A4 paper is successfully stapled and placed back at its original position, and the stapler remains stable on the table."}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/v40_validation.json b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfb061a0813a348ac97409356ab3d7acc2abe7e
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 50,
+  "frames": 44359,
+  "video_frames": {
+    "observation.images.head_left": 44359,
+    "observation.images.wrist_left": 44359,
+    "observation.images.wrist_right": 44359,
+    "observation.images.head_right": 44359,
+    "observation.images.tactile_deform": 44359,
+    "observation.images.tactile_raw": 44359
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 50
+}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad5d3ed1b7aa42accbb1906a70198bfd83a61629
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14654949
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
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diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/annotations.jsonl b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..816587cab756c89426219ceeb077beb2141159cd
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,50 @@
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+                "left_arm_tcp_pose_1",
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+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
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+}
\ No newline at end of file
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/modality.json b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "head_right": {
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+    "tactile_deform": {
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+    "tactile_raw": {
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+  },
+  "annotation": {
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+      "absolute": true,
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/stats.json b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d6e6df8b918ccd7eccf4e5dc044da8ab7554986
--- /dev/null
+++ b/staple_paper/season_POC22048_2026_06_23_10_27_00_train/lerobot_v3.0/meta/stats.json
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