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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..124f6e159250642f32ac4aaf210eaffc32bc16a9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,14 @@
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+                "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": [
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+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                480,
+                3
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+            "names": [
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+            "names": [
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+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
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+                "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": {
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+            "shape": [
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+                1200,
+                3
+            ],
+            "names": [
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+                "video.codec": "h264",
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+                "video.channels": 3,
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+        },
+        "observation.images.tactile_raw": {
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+                "video.codec": "h264",
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+            "names": null
+        },
+        "episode_index": {
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+            "names": null
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+        "index": {
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+        "task_index": {
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+            "shape": [
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+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
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+    }
+  },
+  "state": {
+    "joints": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
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+      "dtype": "float32",
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d97c18320ac21a97881894a4521039391288f9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..578eab764667841c11fc78bb75c02f28ab03a721
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,26 @@
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Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: push: Right hand contacts the side of the long green lego brick with the extended index finger, pushing the brick slightly downward along the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: other:stationary_contact: Right hand remains stationary with the index finger in contact with the long green lego brick, with no visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves left toward the small 2x2 green lego brick on the dark surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 262, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand adjusts its finger positions around the small 2x2 green lego brick, making slight fine movements of the fingers while in contact with the brick resting on the surface."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: place: Right hand moves the grasped small green Lego brick downward to place it on the upper surface of the larger green Lego brick positioned below."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: hold: Right hand holds the small green Lego brick steady on top of the larger green Lego brick without any visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand makes small adjusting movements with its fingers around the small green lego brick resting on the dark work surface, repositioning its index finger over the top face of the brick."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: press: Right hand presses its index finger vertically downward onto the top face of the small green lego brick, applying steady downward pressure to secure the brick to the underlying surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves upward and right toward the blue lego brick, with fingers slightly spread and no contact with the target brick."}, {"label": "subtasks", "start_step": 630, "end_step": 694, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to close around and form a grip on the blue lego brick."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:bend_fingers_and_move_slightly_downward: Left hand bends its fingers and moves slightly downward to a hovering position above the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious self-initiated movement."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious self-initiated movement."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves downward empty toward the green rectangular Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves toward the long green lego brick with the index finger extended, not yet touching the brick."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: push: Right hand contacts the side of the long green lego brick with the extended index finger, pushing the brick slightly downward along the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: other:stationary_contact: Right hand remains stationary with the index finger in contact with the long green lego brick, with no visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves left toward the small 2x2 green lego brick on the dark surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 262, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand adjusts its finger positions around the small 2x2 green lego brick, making slight fine movements of the fingers while in contact with the brick resting on the surface."}, {"label": "subtasks", "start_step": 405, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: place: Right hand moves the grasped small green Lego brick downward to place it on the upper surface of the larger green Lego brick positioned below."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: hold: Right hand holds the small green Lego brick steady on top of the larger green Lego brick without any visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand makes small adjusting movements with its fingers around the small green lego brick resting on the dark work surface, repositioning its index finger over the top face of the brick."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: press: Right hand presses its index finger vertically downward onto the top face of the small green lego brick, applying steady downward pressure to secure the brick to the underlying surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves upward and right toward the blue lego brick, with fingers slightly spread and no contact with the target brick."}, {"label": "subtasks", "start_step": 630, "end_step": 694, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to close around and form a grip on the blue lego brick."}], "episode_index": 25}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc746210dd4cfc28d7e6ad985268b7339d3becc3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,26 @@
+{"episode_index": 0, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2098}
+{"episode_index": 1, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1673}
+{"episode_index": 2, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1639}
+{"episode_index": 3, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1649}
+{"episode_index": 4, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1600}
+{"episode_index": 5, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1649}
+{"episode_index": 6, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1903}
+{"episode_index": 7, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1757}
+{"episode_index": 8, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1708}
+{"episode_index": 9, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1608}
+{"episode_index": 10, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1449}
+{"episode_index": 11, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1612}
+{"episode_index": 12, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1363}
+{"episode_index": 13, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1279}
+{"episode_index": 14, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1363}
+{"episode_index": 15, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1368}
+{"episode_index": 16, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1592}
+{"episode_index": 17, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1211}
+{"episode_index": 18, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1480}
+{"episode_index": 19, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1660}
+{"episode_index": 20, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2144}
+{"episode_index": 21, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1452}
+{"episode_index": 22, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1439}
+{"episode_index": 23, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1577}
+{"episode_index": 24, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1305}
+{"episode_index": 25, "tasks": ["Task: stack_blocks"], "length": 695}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..088231f4285b949d13c40abd0fb0f28f9c4c8681
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,26 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eedcf7c1089c457faaef18e5846afe45b61ddbf
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "fps": 30,
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+                "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/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_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/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..28cd83a1810c6a07d11e8513b0da7e04d61cbf3f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,20 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"subtask_index": 5, "subtask": "Left hand: other:bend_fingers_and_move_slightly_downward: Left hand bends its fingers and moves slightly downward to a hovering position above the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious self-initiated movement."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious self-initiated movement."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves downward empty toward the green rectangular Lego brick placed on the black table surface."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves toward the long green lego brick with the index finger extended, not yet touching the brick."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: push: Right hand contacts the side of the long green lego brick with the extended index finger, pushing the brick slightly downward along the table surface."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: other:stationary_contact: Right hand remains stationary with the index finger in contact with the long green lego brick, with no visible movement of the hand or the brick."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves left toward the small 2x2 green lego brick on the dark surface, with fingers slightly open as it approaches the target."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand adjusts its finger positions around the small 2x2 green lego brick, making slight fine movements of the fingers while in contact with the brick resting on the surface."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: place: Right hand moves the grasped small green Lego brick downward to place it on the upper surface of the larger green Lego brick positioned below."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: hold: Right hand holds the small green Lego brick steady on top of the larger green Lego brick without any visible movement of the hand or the brick."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand makes small adjusting movements with its fingers around the small green lego brick resting on the dark work surface, repositioning its index finger over the top face of the brick."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: press: Right hand presses its index finger vertically downward onto the top face of the small green lego brick, applying steady downward pressure to secure the brick to the underlying surface."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: reach: Right hand moves upward and right toward the blue lego brick, with fingers slightly spread and no contact with the target brick."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty in a stable hovering position above the table without observable movement or hand shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to close around and form a grip on the blue lego brick."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5ca5692ae0d075d301b3c9176c921e363bf7d4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"task_index": 1, "task": "Task: stack_blocks"}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..b133eb4755c7550b00905cf41804629e7789a90f
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 26,
+  "frames": 40273,
+  "video_frames": {
+    "observation.images.head_left": 40273,
+    "observation.images.wrist_left": 40273,
+    "observation.images.wrist_right": 40273,
+    "observation.images.head_right": 40273,
+    "observation.images.tactile_deform": 40273,
+    "observation.images.tactile_raw": 40273
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 26
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..671f5b141ddef0b55edbee7cf3a329fd04ea0109
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_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 sha256:5b3bdf37ebbb05504ab31ec364bbd727f911935d0bbc2a7882959cfe9818f757
+size 45981756
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b1e07d0379ce9361c51f0bb71410fe8745c2428
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@@ -0,0 +1,3 @@
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+oid sha256:99c9e284532bc23bbc2cbeaba687e849ea157f61dfe192e950fe0331260a163e
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
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+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 35492173
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4 b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..578eab764667841c11fc78bb75c02f28ab03a721
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,26 @@
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+                "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"
+            ]
+        },
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+            "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"
+            ]
+        },
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+            ],
+            "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": {
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+            "shape": [
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+            "names": null
+        },
+        "observation.images.head_left": {
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+                3
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+            "names": [
+                "height",
+                "width",
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+                "left_middle_fx",
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+                "left_middle_fz",
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+                "left_ring_ty",
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+                "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",
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+                "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"
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+        },
+        "observation.images.tactile_deform": {
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+                480,
+                1200,
+                3
+            ],
+            "names": [
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+                "video.codec": "h264",
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+                "video.channels": 3,
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+        },
+        "observation.images.tactile_raw": {
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+        "episode_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "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": {
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+    }
+  },
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+      "dtype": "float32",
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+    },
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d30866c1f913f38df860ee0d97284b5d3e2908c
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_07_14_01_01_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81e1a3da7a15ac1fc85d125d4901236cc9793284
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,160 @@
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diff --git a/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..012a199aeac1b14ac76ea8a516b9f3a113362367
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,160 @@
+{"episode_index": 0, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1341}
+{"episode_index": 1, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1487}
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+{"episode_index": 3, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1624}
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+{"episode_index": 28, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1179}
+{"episode_index": 29, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1223}
+{"episode_index": 30, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1288}
+{"episode_index": 31, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1299}
+{"episode_index": 32, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1190}
+{"episode_index": 33, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1374}
+{"episode_index": 34, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1495}
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+{"episode_index": 39, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1252}
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+{"episode_index": 43, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1272}
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+{"episode_index": 48, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1177}
+{"episode_index": 49, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1097}
+{"episode_index": 50, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1117}
+{"episode_index": 51, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1181}
+{"episode_index": 52, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1024}
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+{"episode_index": 54, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1184}
+{"episode_index": 55, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1110}
+{"episode_index": 56, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 993}
+{"episode_index": 57, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1111}
+{"episode_index": 58, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1034}
+{"episode_index": 59, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1180}
+{"episode_index": 60, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1058}
+{"episode_index": 61, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1056}
+{"episode_index": 62, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1391}
+{"episode_index": 63, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1206}
+{"episode_index": 64, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1126}
+{"episode_index": 65, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1065}
+{"episode_index": 66, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1331}
+{"episode_index": 67, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 951}
+{"episode_index": 68, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 978}
+{"episode_index": 69, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 959}
+{"episode_index": 70, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1040}
+{"episode_index": 71, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 990}
+{"episode_index": 72, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1054}
+{"episode_index": 73, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 926}
+{"episode_index": 74, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 919}
+{"episode_index": 75, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 963}
+{"episode_index": 76, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1078}
+{"episode_index": 77, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 938}
+{"episode_index": 78, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1021}
+{"episode_index": 79, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 972}
+{"episode_index": 80, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 914}
+{"episode_index": 81, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 964}
+{"episode_index": 82, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 994}
+{"episode_index": 83, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1067}
+{"episode_index": 84, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1078}
+{"episode_index": 85, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1003}
+{"episode_index": 86, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1020}
+{"episode_index": 87, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 988}
+{"episode_index": 88, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 962}
+{"episode_index": 89, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 990}
+{"episode_index": 90, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 911}
+{"episode_index": 91, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 928}
+{"episode_index": 92, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 973}
+{"episode_index": 93, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1067}
+{"episode_index": 94, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1232}
+{"episode_index": 95, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1211}
+{"episode_index": 96, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1222}
+{"episode_index": 97, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1319}
+{"episode_index": 98, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1258}
+{"episode_index": 99, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1074}
+{"episode_index": 100, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1178}
+{"episode_index": 101, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1044}
+{"episode_index": 102, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1295}
+{"episode_index": 103, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1054}
+{"episode_index": 104, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1156}
+{"episode_index": 105, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 982}
+{"episode_index": 106, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1062}
+{"episode_index": 107, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1005}
+{"episode_index": 108, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1043}
+{"episode_index": 109, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1171}
+{"episode_index": 110, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1366}
+{"episode_index": 111, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1044}
+{"episode_index": 112, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1108}
+{"episode_index": 113, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1122}
+{"episode_index": 114, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1147}
+{"episode_index": 115, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1013}
+{"episode_index": 116, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1184}
+{"episode_index": 117, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1178}
+{"episode_index": 118, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1089}
+{"episode_index": 119, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1055}
+{"episode_index": 120, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1114}
+{"episode_index": 121, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1018}
+{"episode_index": 122, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1112}
+{"episode_index": 123, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1101}
+{"episode_index": 124, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1024}
+{"episode_index": 125, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1133}
+{"episode_index": 126, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 996}
+{"episode_index": 127, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1013}
+{"episode_index": 128, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1239}
+{"episode_index": 129, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1097}
+{"episode_index": 130, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 947}
+{"episode_index": 131, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 996}
+{"episode_index": 132, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1186}
+{"episode_index": 133, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1356}
+{"episode_index": 134, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1084}
+{"episode_index": 135, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1132}
+{"episode_index": 136, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1049}
+{"episode_index": 137, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 918}
+{"episode_index": 138, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1073}
+{"episode_index": 139, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1105}
+{"episode_index": 140, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 966}
+{"episode_index": 141, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1019}
+{"episode_index": 142, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1080}
+{"episode_index": 143, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1143}
+{"episode_index": 144, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1084}
+{"episode_index": 145, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 976}
+{"episode_index": 146, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 922}
+{"episode_index": 147, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 999}
+{"episode_index": 148, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1150}
+{"episode_index": 149, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1079}
+{"episode_index": 150, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1102}
+{"episode_index": 151, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 967}
+{"episode_index": 152, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1002}
+{"episode_index": 153, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1020}
+{"episode_index": 154, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1022}
+{"episode_index": 155, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 883}
+{"episode_index": 156, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 951}
+{"episode_index": 157, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1151}
+{"episode_index": 158, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 972}
+{"episode_index": 159, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 992}
diff --git a/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df38b6d930d3b61a994359ee3165ab70feab8954
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,160 @@
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diff --git a/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb754ac0e1634dce02b32fdab517924997b6192d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_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/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1941d6beb13af445c1bcf9572c029ddcb8d089a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
diff --git a/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..687a118df0a7ed9070b80da513e14d2d292afee2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
diff --git a/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa7ef97f5d37bd1a583954741b707c983f33756a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22048_2026_07_07_13_53_22_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 160,
+  "frames": 183609,
+  "video_frames": {
+    "observation.images.head_left": 183609,
+    "observation.images.wrist_left": 183609,
+    "observation.images.wrist_right": 183609,
+    "observation.images.head_right": 183609,
+    "observation.images.tactile_deform": 183609,
+    "observation.images.tactile_raw": 183609
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 160
+}
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