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diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/annotations.jsonl b/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c50b606c297bdc9215649798ef1cff3c920d51b1
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,13 @@
+{"source_uid": "49d9ec89f0277a24", "num_frames": 2870, "episode_id": "POC22048_2026_06_17_10_34_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_clothe/season_POC22048_2026_06_17_10_34_57_train/POC22048_2026_06_17_10_34_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_clothe/season_POC22048_2026_06_17_10_34_57_train/POC22048_2026_06_17_10_34_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_clothe/season_POC22048_2026_06_17_10_34_57_train/POC22048_2026_06_17_10_34_57_train/train_0.3.0@2026_06_17_10_34_57.hdf5", "tags": {"task_name": "Hang_Clothes", "task_instruction": "Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside.", "scene_description": "A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side.", "success_criteria": "The garment is correctly placed on the hanger and moved to the target side position stably.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pick up the garment with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 602, "id": "subtask-002", "text": "Adjust the garment with the left hand. | Skill: adjust", "task_skill": "adjust", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 1319, "id": "subtask-003", "text": "Pick up the hanger with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1320, "end_step": 2525, "id": "subtask-004", "text": "Thread the hanger into the garment with the right hand. | Skill: thread", "task_skill": "thread", "atomic_action": []}, {"label": "subtasks", "start_step": 2526, "end_step": 2744, "id": "subtask-005", "text": "Lift the garment with the hanger using the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 2745, "end_step": 2798, "id": "subtask-006", "text": "Place the hanger with the garment aside using the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pick up the garment with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 602, "id": "subtask-002", "text": "Adjust the garment with the left hand. | Skill: adjust", "task_skill": "adjust", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 1319, "id": "subtask-003", "text": "Pick up the hanger with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1320, "end_step": 2525, "id": "subtask-004", "text": "Thread the hanger into the garment with the right hand. | Skill: thread", "task_skill": "thread", "atomic_action": []}, {"label": "subtasks", "start_step": 2526, "end_step": 2744, "id": "subtask-005", "text": "Lift the garment with the hanger using the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 2745, "end_step": 2798, "id": "subtask-006", "text": "Place the hanger with the garment aside using the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+                "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": {
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+                "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/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/modality.json b/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/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": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
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+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/stats.json b/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5bb6ca671b5eda660620742e127dc3bb977086
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_10_34_57_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/annotations.jsonl b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46bae01dfcfee4d4f201cac462405e3d1e47d44c
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,50 @@
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diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/episodes.jsonl b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4fe211670018ff1392b151302a6eed1923fe858
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1944}
+{"episode_index": 1, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1756}
+{"episode_index": 2, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1884}
+{"episode_index": 3, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1454}
+{"episode_index": 4, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2731}
+{"episode_index": 5, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1919}
+{"episode_index": 6, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1430}
+{"episode_index": 7, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1864}
+{"episode_index": 8, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1671}
+{"episode_index": 9, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1913}
+{"episode_index": 10, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1796}
+{"episode_index": 11, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2013}
+{"episode_index": 12, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1520}
+{"episode_index": 13, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1832}
+{"episode_index": 14, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1633}
+{"episode_index": 15, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1597}
+{"episode_index": 16, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1670}
+{"episode_index": 17, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1736}
+{"episode_index": 18, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2544}
+{"episode_index": 19, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2499}
+{"episode_index": 20, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2447}
+{"episode_index": 21, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1943}
+{"episode_index": 22, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1652}
+{"episode_index": 23, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1738}
+{"episode_index": 24, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1558}
+{"episode_index": 25, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2274}
+{"episode_index": 26, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1674}
+{"episode_index": 27, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1684}
+{"episode_index": 28, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2340}
+{"episode_index": 29, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1491}
+{"episode_index": 30, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1656}
+{"episode_index": 31, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1785}
+{"episode_index": 32, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1642}
+{"episode_index": 33, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1592}
+{"episode_index": 34, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1435}
+{"episode_index": 35, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1552}
+{"episode_index": 36, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1797}
+{"episode_index": 37, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2482}
+{"episode_index": 38, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1485}
+{"episode_index": 39, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1781}
+{"episode_index": 40, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2171}
+{"episode_index": 41, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1424}
+{"episode_index": 42, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 2150}
+{"episode_index": 43, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1908}
+{"episode_index": 44, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1599}
+{"episode_index": 45, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1415}
+{"episode_index": 46, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1280}
+{"episode_index": 47, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1882}
+{"episode_index": 48, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1401}
+{"episode_index": 49, "tasks": ["Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."], "length": 1385}
diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/episodes_stats.jsonl b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65cd0344ffe4d9bae040c767133d595beb8e2b00
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,50 @@
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diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/info.json b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4830203f0e47545cdbd4fb6a8f370f72c9022e8
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 50,
+    "total_frames": 90029,
+    "total_tasks": 1,
+    "total_videos": 300,
+    "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/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/modality.json b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_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,
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+      "absolute": true,
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+}
diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/subtasks.jsonl b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/subtasks.jsonl
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+{"subtask_index": 0, "subtask": "Pick up the garment with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Adjust the garment with the left hand. | Skill: adjust"}
+{"subtask_index": 2, "subtask": "Pick up the hanger with the right hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Thread the hanger into the garment with the right hand. | Skill: thread"}
+{"subtask_index": 4, "subtask": "Lift the garment with the hanger using the right hand. | Skill: lift"}
+{"subtask_index": 5, "subtask": "Place the hanger with the garment aside using the right hand. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."}
diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/tasks.jsonl b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/tasks.jsonl
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+{"task_index": 0, "task": "Task: Hang_Clothes | Instruction: Pick up the garment with the left hand and adjust it. Then pick up the hanger with the right hand and thread it into the garment. Next, lift the garment with the hanger using the right hand. Finally, move the hanger with the garment and place it aside. | Scene: A garment and a hanger are placed on the table. The robot needs to hold and adjust the garment, insert the hanger into the garment, lift the garment onto the hanger, and move the hung garment to one side. | Success: The garment is correctly placed on the hanger and moved to the target side position stably."}
diff --git a/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/v40_validation.json b/hang_garment_on_hanger/season_POC22048_2026_06_17_13_51_16_train/lerobot_v2.1/meta/v40_validation.json
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+{
+  "status": "passed",
+  "episodes": 50,
+  "frames": 90029,
+  "video_frames": {
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+    "observation.images.wrist_left": 90029,
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+    "observation.images.tactile_deform": 90029,
+    "observation.images.tactile_raw": 90029
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 50
+}
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