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@@ -0,0 +1,67 @@
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diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/annotations.jsonl b/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55d933a5e4b148b977d341ff9e79a00b00a30be1
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,67 @@
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+        },
+        "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"
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
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+                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
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/modality.json b/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/stats.json b/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25ee265e37c056a3a1dba28b649b5d75f85c0ff
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_10_22_42_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/annotations.jsonl b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..110453e059619f530705758537a287a08fcb4564
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,21 @@
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diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/episodes.jsonl b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4cb1be12e0cc8670d0d29e581a33fe98708ba9a6
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,21 @@
+{"episode_index": 0, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1351}
+{"episode_index": 1, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1474}
+{"episode_index": 2, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1379}
+{"episode_index": 3, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1516}
+{"episode_index": 4, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1359}
+{"episode_index": 5, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1319}
+{"episode_index": 6, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1486}
+{"episode_index": 7, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1353}
+{"episode_index": 8, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1550}
+{"episode_index": 9, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1394}
+{"episode_index": 10, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1227}
+{"episode_index": 11, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1222}
+{"episode_index": 12, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1214}
+{"episode_index": 13, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1257}
+{"episode_index": 14, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1144}
+{"episode_index": 15, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1130}
+{"episode_index": 16, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1173}
+{"episode_index": 17, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1144}
+{"episode_index": 18, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1151}
+{"episode_index": 19, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1144}
+{"episode_index": 20, "tasks": ["Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."], "length": 1395}
diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/episodes_stats.jsonl b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8350215d52dcbccbb7443c59e9a7f36e85c3b10
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,21 @@
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diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/info.json b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4ce0b38f1bfda821f68c3ca0eb40007faf045f7
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/modality.json b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_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/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/subtasks.jsonl b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..508ce42e69b341e8f96868b5de5dee900c80aec2
--- /dev/null
+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,6 @@
+{"subtask_index": 0, "subtask": "Pick up the first piece of trash from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Drop the first piece of trash into the trash bin. | Skill: drop"}
+{"subtask_index": 2, "subtask": "Pick up the second piece of trash from the table. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Drop the second piece of trash into the trash bin. | Skill: drop"}
+{"subtask_index": 4, "subtask": "Pick up the remaining pieces of trash one by one and drop them into the trash bin. | Skill: drop"}
+{"subtask_index": 5, "subtask": "Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."}
diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/tasks.jsonl b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Collect_Garbage | Instruction: Pick up the first piece of trash and drop it into the trash bin. Then pick up the second piece of trash and drop it into the trash bin. Continue picking up the remaining pieces of trash one by one and dropping them into the trash bin. | Scene: Several pieces of trash are scattered on the table, and a trash bin is placed nearby. The robot needs to pick up each piece of trash one by one and dispose of it in the trash bin. | Success: All pieces of trash are collected and dropped into the trash bin, and no trash remains on the table."}
diff --git a/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/v40_validation.json b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea0f7882d56bcfa11234fed15908911f244f51b
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+++ b/collect_waste_into_bin/season_POC22027_2026_06_08_13_42_01_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 21,
+  "frames": 27382,
+  "video_frames": {
+    "observation.images.head_left": 27382,
+    "observation.images.wrist_left": 27382,
+    "observation.images.wrist_right": 27382,
+    "observation.images.head_right": 27382,
+    "observation.images.tactile_deform": 27382,
+    "observation.images.tactile_raw": 27382
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 21
+}
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