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diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7bc555056e507922a8c7621c7cb488e0238e3f8a
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,131 @@
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+}
\ No newline at end of file
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/modality.json b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/stats.json b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c69ad3f77e78fe28a5f348c629d727d30ee858
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/stats.json
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16b7bf416a6bbd13874270ae264aa7fa06484e2e
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,15 @@
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/episodes.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95369ea9eeb58bd76bc27a2fb840473e7bbeeb35
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,15 @@
+{"episode_index": 0, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1227}
+{"episode_index": 1, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1293}
+{"episode_index": 2, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1357}
+{"episode_index": 3, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1117}
+{"episode_index": 4, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 936}
+{"episode_index": 5, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1091}
+{"episode_index": 6, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 951}
+{"episode_index": 7, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 856}
+{"episode_index": 8, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 964}
+{"episode_index": 9, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1076}
+{"episode_index": 10, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1175}
+{"episode_index": 11, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 800}
+{"episode_index": 12, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 902}
+{"episode_index": 13, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 885}
+{"episode_index": 14, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1038}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/episodes_stats.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9c913ffb6246491515e0a70892d9d657b139846
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,15 @@
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/info.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6df53dff39d1f3b24c72ba2291b99a66e23d22b
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "robot_type": "robot",
+    "total_episodes": 15,
+    "total_frames": 15668,
+    "total_tasks": 1,
+    "total_videos": 90,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:15"
+    },
+    "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/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/modality.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_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/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/subtasks.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a83a31f86339e3baa4aeaa45f47de888e6740c6d
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the dustpan with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Empty the trash from the dustpan into the trash bin with the left hand. | Skill: pour"}
+{"subtask_index": 2, "subtask": "Place the dustpan back in its original position with the left hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/tasks.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9151fa59294d8d5a3c3887137da3ccc0c622ea21
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/v40_validation.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce25533c041a8bfbb01ef385995b19bb3216191
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 15,
+  "frames": 15668,
+  "video_frames": {
+    "observation.images.head_left": 15668,
+    "observation.images.wrist_left": 15668,
+    "observation.images.wrist_right": 15668,
+    "observation.images.head_right": 15668,
+    "observation.images.tactile_deform": 15668,
+    "observation.images.tactile_raw": 15668
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 15
+}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..606dc7674039ea92b3081f765fe0657e3204e632
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_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
+oid sha256:b7fc93806e984a33031b44056b07166f7e8eeeb59efe54bf23d098c0b0ee4524
+size 16434499
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16b7bf416a6bbd13874270ae264aa7fa06484e2e
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,15 @@
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+                "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/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/modality.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_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": {
+      "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/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/stats.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcaf2d77700add44d7d6041d77af0f98e35ce2c9
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_15_54_28_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adcdca14133df431481ddf76b36acbcb975b4831
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,17 @@
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/episodes.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cfbe8a84c61b396551fc5f99225b09bbc5b049a
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,17 @@
+{"episode_index": 0, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 774}
+{"episode_index": 1, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 951}
+{"episode_index": 2, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 893}
+{"episode_index": 3, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 902}
+{"episode_index": 4, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 915}
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+{"episode_index": 9, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 877}
+{"episode_index": 10, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 937}
+{"episode_index": 11, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 859}
+{"episode_index": 12, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 1083}
+{"episode_index": 13, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 974}
+{"episode_index": 14, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 916}
+{"episode_index": 15, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 871}
+{"episode_index": 16, "tasks": ["Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."], "length": 927}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/episodes_stats.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bff90c6cb000f36ac50c4c5396a5f51f48896eb0
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,17 @@
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diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/info.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..669e122cda160cf09493d423f3212a86d7e47acd
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/modality.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_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/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/subtasks.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a83a31f86339e3baa4aeaa45f47de888e6740c6d
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the dustpan with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Empty the trash from the dustpan into the trash bin with the left hand. | Skill: pour"}
+{"subtask_index": 2, "subtask": "Place the dustpan back in its original position with the left hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/tasks.jsonl b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9151fa59294d8d5a3c3887137da3ccc0c622ea21
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Empty Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, empty the trash from the dustpan into the trash bin, and then place the dustpan back in its original position. | Scene: A dustpan containing trash and a trash bin are available. The robot needs to pick up the dustpan with the left hand, empty its contents into the trash bin, and return the dustpan to its original position. | Success: The trash from the dustpan is emptied into the trash bin, and the dustpan is returned stably to its original position."}
diff --git a/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/v40_validation.json b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..873502e830c6927792bd47b176480eb0106dff34
--- /dev/null
+++ b/sweep_waste_into_dustpan/season_POC22054_2026_05_29_19_18_10_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 17,
+  "frames": 15564,
+  "video_frames": {
+    "observation.images.head_left": 15564,
+    "observation.images.wrist_left": 15564,
+    "observation.images.wrist_right": 15564,
+    "observation.images.head_right": 15564,
+    "observation.images.tactile_deform": 15564,
+    "observation.images.tactile_raw": 15564
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 17
+}
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