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diff --git a/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/annotations.jsonl b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18bb64603bd6c60aa1001a4f648588aefe6deac0
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/annotations.jsonl
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/episodes.jsonl b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..046c32798d8aa751ef53cd058d05622f73b49fb7
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,134 @@
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+{"episode_index": 14, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 330}
+{"episode_index": 15, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 360}
+{"episode_index": 16, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 381}
+{"episode_index": 17, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 361}
+{"episode_index": 18, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 403}
+{"episode_index": 19, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 382}
+{"episode_index": 20, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 409}
+{"episode_index": 21, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 378}
+{"episode_index": 22, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 343}
+{"episode_index": 23, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 362}
+{"episode_index": 24, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 379}
+{"episode_index": 25, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 350}
+{"episode_index": 26, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 355}
+{"episode_index": 27, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 347}
+{"episode_index": 28, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 361}
+{"episode_index": 29, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 374}
+{"episode_index": 30, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 390}
+{"episode_index": 31, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 346}
+{"episode_index": 32, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 352}
+{"episode_index": 33, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 347}
+{"episode_index": 34, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 353}
+{"episode_index": 35, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 351}
+{"episode_index": 36, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 301}
+{"episode_index": 37, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 346}
+{"episode_index": 38, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 368}
+{"episode_index": 39, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 329}
+{"episode_index": 40, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 306}
+{"episode_index": 41, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 356}
+{"episode_index": 42, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 337}
+{"episode_index": 43, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 381}
+{"episode_index": 44, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 390}
+{"episode_index": 45, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 365}
+{"episode_index": 46, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 404}
+{"episode_index": 47, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 381}
+{"episode_index": 48, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 415}
+{"episode_index": 49, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 365}
+{"episode_index": 50, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 332}
+{"episode_index": 51, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 343}
+{"episode_index": 52, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 329}
+{"episode_index": 53, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 325}
+{"episode_index": 54, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 363}
+{"episode_index": 55, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 346}
+{"episode_index": 56, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 318}
+{"episode_index": 57, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 321}
+{"episode_index": 58, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 332}
+{"episode_index": 59, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 312}
+{"episode_index": 60, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 330}
+{"episode_index": 61, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 351}
+{"episode_index": 62, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 335}
+{"episode_index": 63, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 324}
+{"episode_index": 64, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 337}
+{"episode_index": 65, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 337}
+{"episode_index": 66, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 341}
+{"episode_index": 67, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 346}
+{"episode_index": 68, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 349}
+{"episode_index": 69, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 348}
+{"episode_index": 70, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 336}
+{"episode_index": 71, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 337}
+{"episode_index": 72, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 352}
+{"episode_index": 73, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 365}
+{"episode_index": 74, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 369}
+{"episode_index": 75, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 364}
+{"episode_index": 76, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 314}
+{"episode_index": 77, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 323}
+{"episode_index": 78, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 361}
+{"episode_index": 79, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 371}
+{"episode_index": 80, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 357}
+{"episode_index": 81, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 389}
+{"episode_index": 82, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 372}
+{"episode_index": 83, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 355}
+{"episode_index": 84, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 323}
+{"episode_index": 85, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 319}
+{"episode_index": 86, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 338}
+{"episode_index": 87, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 327}
+{"episode_index": 88, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 319}
+{"episode_index": 89, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 307}
+{"episode_index": 90, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 307}
+{"episode_index": 91, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 319}
+{"episode_index": 92, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 317}
+{"episode_index": 93, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 317}
+{"episode_index": 94, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 346}
+{"episode_index": 95, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 333}
+{"episode_index": 96, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 338}
+{"episode_index": 97, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 326}
+{"episode_index": 98, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 338}
+{"episode_index": 99, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 339}
+{"episode_index": 100, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 358}
+{"episode_index": 101, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 365}
+{"episode_index": 102, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 348}
+{"episode_index": 103, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 361}
+{"episode_index": 104, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 354}
+{"episode_index": 105, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 361}
+{"episode_index": 106, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 339}
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+{"episode_index": 108, "tasks": ["Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."], "length": 379}
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diff --git a/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/episodes_stats.jsonl b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6fb5edecd30fe05594614832ba8c2c7c0c6f4dee
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,134 @@
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[[0.9843137264251709]]], "mean": [[[0.3310869634151459]], [[0.3308926522731781]], [[0.3275303542613983]]], "std": [[[0.2215624451637268]], [[0.2215348333120346]], [[0.21735964715480804]]], "count": [324]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470756530762]], [[0.7176470756530762]], [[0.7176470756530762]]], "mean": [[[0.0028566005639731884]], [[0.0028566005639731884]], [[0.0028566005639731884]]], "std": [[[0.03608741983771324]], [[0.03608741983771324]], [[0.03608741983771324]]], "count": [324]}, "observation.images.tactile_raw": {"min": [[[0.0470588244497776]], [[0.0470588244497776]], [[0.0470588244497776]]], "max": [[[0.9803921580314636]], [[0.9803921580314636]], [[0.9803921580314636]]], "mean": [[[0.4383932054042816]], [[0.4383932054042816]], [[0.4383932054042816]]], "std": [[[0.1466187834739685]], [[0.1466187834739685]], [[0.1466187834739685]]], "count": [324]}}}
diff --git a/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/info.json b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a153ae7285bfe1888bb4be802db3860417030957
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 134,
+    "total_frames": 46332,
+    "total_tasks": 1,
+    "total_videos": 804,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:134"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/modality.json b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_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/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/subtasks.jsonl b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f106c67d3b39cc2cc7d13cc431b70bc70fb7dca6
--- /dev/null
+++ b/stack_two_plates/season_POC22018_2026_05_02_20_37_25_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the yellow plate. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the yellow plate above the pink plate. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the yellow plate on top of the pink plate. | Skill: place"}
+{"subtask_index": 3, "subtask": "Task: Stack the Two Plates. | Instruction: Pick up the yellow plate, move the yellow plate above the pink plate, place the yellow plate on top of the pink plate. | Scene: A table with two plates placed at random positions. | Success: The yellow plate is placed on top of the pink plate."}
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+  "language_loaded": 134
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