diff --git a/lerobot/odd_parcel/meta/episodes.jsonl b/lerobot/odd_parcel/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9803580f9a8d96a4234fdb82342ad67e2d37f300
--- /dev/null
+++ b/lerobot/odd_parcel/meta/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["There are parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11576}
+{"episode_index": 1, "tasks": ["There are 8 parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10805}
+{"episode_index": 2, "tasks": ["There are 8 parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11142}
+{"episode_index": 3, "tasks": ["There are parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11411}
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+{"episode_index": 35, "tasks": ["There are parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10584}
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+{"episode_index": 38, "tasks": ["There are parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11223}
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diff --git a/lerobot/odd_parcel/meta/episodes_stats.jsonl b/lerobot/odd_parcel/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64bccfa972a6905f0e1bb9479712d4df3a2911b4
--- /dev/null
+++ b/lerobot/odd_parcel/meta/episodes_stats.jsonl
@@ -0,0 +1,500 @@
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diff --git a/lerobot/odd_parcel/meta/info.json b/lerobot/odd_parcel/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e19ea6b714cfe9a878b86f9255f3031c578f6c7
--- /dev/null
+++ b/lerobot/odd_parcel/meta/info.json
@@ -0,0 +1,163 @@
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+                "roboquest.out_size": 256,
+                "roboquest.resize_filter": "none"
+            }
+        },
+        "right_image": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false,
+                "roboquest.sim_size": 256,
+                "roboquest.out_size": 256,
+                "roboquest.resize_filter": "none"
+            }
+        },
+        "state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "state"
+            ]
+        },
+        "actions": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "actions"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "stage_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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/lerobot/odd_parcel/meta/roboquest_conversion.json b/lerobot/odd_parcel/meta/roboquest_conversion.json
new file mode 100644
index 0000000000000000000000000000000000000000..9be0722b2984e7b6e82a8bcbc4e19345d2c9b161
--- /dev/null
+++ b/lerobot/odd_parcel/meta/roboquest_conversion.json
@@ -0,0 +1,34 @@
+{
+ "converter_sha256": "a2808d42ca7f1ed732d916183bd131af6a7cc2a4a660aa37feeb59f70f55f12c",
+ "written": "2026-10-05 18:24:16 +0800",
+ "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+ "codebase_version": "v2.1",
+ "sim_size": 256,
+ "out_size": 256,
+ "resize_filter": "none",
+ "video_encoding": {
+  "vcodec": "libsvtav1",
+  "pix_fmt": "yuv420p",
+  "g": 2,
+  "crf": 30,
+  "fast_decode": 0,
+  "options": {
+   "g": "2",
+   "crf": "30"
+  },
+  "pyav": "18.1.0",
+  "libavcodec": [
+   62,
+   28,
+   102
+  ]
+ },
+ "frame_convention": "frame t = recorded state t (before action t) + action t, t < len(actions); no terminal hold",
+ "cameras": {
+  "robot0_agentview_left": "image",
+  "robot0_eye_in_hand": "wrist_image",
+  "robot0_agentview_right": "right_image"
+ },
+ "task": "episode goal (captions_v31 goal), raw text",
+ "subtask_stage": "per-frame int64 subtask_index / stage_index -> meta/subtasks.jsonl / meta/stages.jsonl (captions_v31 timeline)"
+}
\ No newline at end of file
diff --git a/lerobot/odd_parcel/meta/roboquest_episodes.jsonl b/lerobot/odd_parcel/meta/roboquest_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03af57f83f360198cfb6e7ed8ec5b9102e2a193e
--- /dev/null
+++ b/lerobot/odd_parcel/meta/roboquest_episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "task_name": "odd_parcel", "instance_id": "4f6a7dcc7dcfc8be", "caption_sha256": "e244065a8f6be46dd0a16222a93a64c62da913768f35c88f9d051da04396214a", "caption_version": "captions_v31b 2026-10-05", "length": 11576, "timeline": [{"start": 0, "end": 30, "subtask": "look over the counter", "stage": "look over the counter", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 479, "subtask": "lift the cloche by its knob", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 1, "stage_index": 1}, {"start": 479, "end": 520, "subtask": "look around for the missing parcel", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 2, "stage_index": 1}, {"start": 520, "end": 980, "subtask": "drive to the annex and pick up the parcel there", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 3, "stage_index": 1}, {"start": 980, "end": 1743, "subtask": "carry the parcel back to the other parcels", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 4, "stage_index": 1}, {"start": 1743, "end": 1945, "subtask": "clear what hides a parcel and bring every parcel within reach", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 5, "stage_index": 1}, {"start": 1945, "end": 2150, "subtask": "pick up the top parcel of the stack on the counter", "stage": "pick up the top parcel of the stack on the counter", "subtask_index": 6, "stage_index": 2}, {"start": 2150, "end": 2373, "subtask": "set the parcel in the gripper down on a clear part of the counter", "stage": "set the parcel in the gripper down on a clear part of the counter", "subtask_index": 7, "stage_index": 3}, {"start": 2373, "end": 2431, "subtask": "drive up to the balance", "stage": "drive up to the balance", "subtask_index": 8, "stage_index": 4}, {"start": 2431, "end": 2456, "subtask": "let the empty balance settle and read its resting tilt", "stage": "let the empty balance settle and read its resting tilt", "subtask_index": 9, "stage_index": 5}, {"start": 2456, "end": 2674, "subtask": "pick up the second from the left of the eight parcels on the counter", "stage": "pick up the second from the left of the eight parcels on the counter", "subtask_index": 10, "stage_index": 6}, {"start": 2674, "end": 2871, "subtask": "put the parcel in the gripper on the left pan", "stage": "put the parcel in the gripper on the left pan", "subtask_index": 11, "stage_index": 7}, {"start": 2871, "end": 3088, "subtask": "pick up the rightmost of the six parcels on the counter", "stage": "pick up the rightmost of the six parcels on the counter", "subtask_index": 12, "stage_index": 8}, {"start": 3088, "end": 3311, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 3311, "end": 3346, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 3346, "end": 3572, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 3572, "end": 3778, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 3778, "end": 4063, "subtask": "pick up the rightmost of the seven parcels on the counter", "stage": "pick up the rightmost of the seven parcels on the counter", "subtask_index": 17, "stage_index": 13}, {"start": 4063, "end": 4320, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 4320, "end": 4355, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 4355, "end": 4575, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 4575, "end": 4829, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 4829, "end": 5093, "subtask": "pick up the leftmost of the seven parcels on the counter", "stage": "pick up the leftmost of the seven parcels on the counter", "subtask_index": 18, "stage_index": 14}, {"start": 5093, "end": 5368, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 5368, "end": 5403, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 5403, "end": 5609, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 5609, "end": 5822, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 5822, "end": 6040, "subtask": "pick up the nearer of the two parcels at the right end on the counter", "stage": "pick up the nearer of the two parcels at the right end on the counter", "subtask_index": 19, "stage_index": 15}, {"start": 6040, "end": 6264, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 6264, "end": 6299, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 6299, "end": 6518, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 6518, "end": 6709, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 6709, "end": 6916, "subtask": "pick up the third from the left of the seven parcels on the counter", "stage": "pick up the third from the left of the seven parcels on the counter", "subtask_index": 20, "stage_index": 16}, {"start": 6916, "end": 7139, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 7139, "end": 7174, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 7174, "end": 7376, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 7376, "end": 7605, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 7605, "end": 7842, "subtask": "pick up the leftmost of the four parcels on the counter", "stage": "pick up the leftmost of the four parcels on the counter", "subtask_index": 21, "stage_index": 17}, {"start": 7842, "end": 8087, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 8087, "end": 8122, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 8122, "end": 8324, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 8324, "end": 8572, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 8572, "end": 8801, "subtask": "pick up the rightmost of the four parcels on the counter", "stage": "pick up the rightmost of the four parcels on the counter", "subtask_index": 22, "stage_index": 18}, {"start": 8801, "end": 9046, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 9046, "end": 9081, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 9081, "end": 9319, "subtask": "take the parcel on the left pan off the left pan", "stage": "take the parcel on the left pan off the left pan", "subtask_index": 23, "stage_index": 19}, {"start": 9319, "end": 9512, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 9512, "end": 9769, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 9769, "end": 9994, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 9994, "end": 10191, "subtask": "pick up the rightmost of the five parcels on the counter", "stage": "pick up the rightmost of the five parcels on the counter", "subtask_index": 24, "stage_index": 20}, {"start": 10191, "end": 10463, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 10463, "end": 10663, "subtask": "pick up the rightmost of the three parcels on the counter", "stage": "pick up the rightmost of the three parcels on the counter", "subtask_index": 26, "stage_index": 22}, {"start": 10663, "end": 10896, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 10896, "end": 11145, "subtask": "pick up the farther of the two parcels second from the left on the counter", "stage": "pick up the farther of the two parcels second from the left on the counter", "subtask_index": 27, "stage_index": 23}, {"start": 11145, "end": 11419, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 11419, "end": 11460, "subtask": "look over the counter before submitting", "stage": "look over the counter before submitting", "subtask_index": 28, "stage_index": 24}, {"start": 11460, "end": 11576, "subtask": "press Submit", "stage": "press Submit", "subtask_index": 29, "stage_index": 25}], "render": {"visfix": true, "objskin": "final", "bin_fix_geoms": [], "mug_liquid_hidden": [], "objskin_geoms": 0}, "ink_hook": false}
+{"episode_index": 1, "task_name": "odd_parcel", "instance_id": "e63cc9d140b4e766", "caption_sha256": "d21d8361edd40e1a84b9bc772239ac09ea6798271969ca3eb0375bec575b0aa4", "caption_version": "captions_v31b 2026-10-05", "length": 10805, "timeline": [{"start": 0, "end": 30, "subtask": "look over the counter", "stage": "look over the counter", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 469, "subtask": "lift the cloche by its knob", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 1, "stage_index": 1}, {"start": 469, "end": 540, "subtask": "look around for the missing parcel", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 2, "stage_index": 1}, {"start": 540, "end": 814, "subtask": "drive to the annex and pick up the parcel there", "stage": "clear what hides a parcel and bring every parcel within reach", "subtask_index": 3, "stage_index": 1}, {"start": 814, "end": 1418, "subtask": "carry 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the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 4444, "end": 4479, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 4479, "end": 4780, "subtask": "take the parcel on the left pan off the left pan", "stage": "take the parcel on the left pan off the left pan", "subtask_index": 23, "stage_index": 19}, {"start": 4780, "end": 4987, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 4987, "end": 5278, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 5278, "end": 5477, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 5477, "end": 5706, "subtask": "pick up the leftmost of the three parcels in the front row on the counter", "stage": "pick up the leftmost of the three parcels in the front row on the counter", "subtask_index": 77, "stage_index": 72}, {"start": 5706, "end": 6005, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 6005, "end": 6046, "subtask": "look over the counter before submitting", "stage": "look over the counter before submitting", "subtask_index": 28, "stage_index": 24}, {"start": 6046, "end": 6159, "subtask": "press Submit", "stage": "press Submit", "subtask_index": 29, "stage_index": 25}], "render": {"visfix": true, "objskin": "final", "bin_fix_geoms": [], "mug_liquid_hidden": [], "objskin_geoms": 0}, "ink_hook": false}
+{"episode_index": 497, "task_name": "odd_parcel", "instance_id": "6f46b7e8b0240206", "caption_sha256": "07e4e6f49bd9f8ab4794e7fa28d1fb3bb39c91eaeedfdab9264fa2ceac437c90", "caption_version": "captions_v31b 2026-10-05", "length": 4925, "timeline": [{"start": 0, "end": 30, "subtask": "look over the counter", "stage": "look over the counter", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 231, "subtask": "pick up the top parcel of the stack on the counter", "stage": "pick up the top parcel of the stack on the counter", "subtask_index": 6, "stage_index": 2}, {"start": 231, "end": 445, "subtask": "set the parcel in the gripper down on a clear part of the counter", "stage": "set the parcel in the gripper down on a clear part of the counter", "subtask_index": 7, "stage_index": 3}, {"start": 445, "end": 540, "subtask": "drive up to the balance", "stage": "drive up to the balance", "subtask_index": 8, "stage_index": 4}, {"start": 540, "end": 565, "subtask": "let the empty balance settle and read its resting tilt", "stage": "let the empty balance settle and read its resting tilt", "subtask_index": 9, "stage_index": 5}, {"start": 565, "end": 781, "subtask": "pick up the second from the right of the four parcels on the counter", "stage": "pick up the second from the right of the four parcels on the counter", "subtask_index": 40, "stage_index": 36}, {"start": 781, "end": 1006, "subtask": "put the parcel in the gripper on the left pan", "stage": "put the parcel in the gripper on the left pan", "subtask_index": 11, "stage_index": 7}, {"start": 1006, "end": 1211, "subtask": "pick up the leftmost of the three parcels on the counter", "stage": "pick up the leftmost of the three parcels on the counter", "subtask_index": 72, "stage_index": 67}, {"start": 1211, "end": 1476, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 1476, "end": 1511, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 1511, "end": 1767, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 1767, "end": 1973, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 1973, "end": 2158, "subtask": "pick up the rightmost of the three parcels on the counter", "stage": "pick up the rightmost of the three parcels on the counter", "subtask_index": 26, "stage_index": 22}, {"start": 2158, "end": 2397, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 2397, "end": 2432, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 2432, "end": 2702, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 2702, "end": 2895, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 2895, "end": 3090, "subtask": "pick up the leftmost of the three parcels on the counter", "stage": "pick up the leftmost of the three parcels on the counter", "subtask_index": 72, "stage_index": 67}, {"start": 3090, "end": 3321, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 3321, "end": 3356, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 3356, "end": 3595, "subtask": "take the parcel on the left pan off the left pan", "stage": "take the parcel on the left pan off the left pan", "subtask_index": 23, "stage_index": 19}, {"start": 3595, "end": 3763, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 3763, "end": 4030, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 4030, "end": 4296, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 4296, "end": 4499, "subtask": "pick up the middle of the three parcels on the counter", "stage": "pick up the middle of the three parcels on the counter", "subtask_index": 74, "stage_index": 69}, {"start": 4499, "end": 4756, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 4756, "end": 4797, "subtask": "look over the counter before submitting", "stage": "look over the counter before submitting", "subtask_index": 28, "stage_index": 24}, {"start": 4797, "end": 4925, "subtask": "press Submit", "stage": "press Submit", "subtask_index": 29, "stage_index": 25}], "render": {"visfix": true, "objskin": "final", "bin_fix_geoms": [], "mug_liquid_hidden": [], "objskin_geoms": 0}, "ink_hook": false}
+{"episode_index": 498, "task_name": "odd_parcel", "instance_id": "4999a885133c761f", "caption_sha256": "fb07cce0a9dc87a356051f773614fc8527fbe683c1b0e9088db73c9ffad4856b", "caption_version": "captions_v31b 2026-10-05", "length": 4715, "timeline": [{"start": 0, "end": 30, "subtask": "look over the counter", "stage": "look over the counter", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 196, "subtask": "drive up to the balance", "stage": "drive up to the balance", "subtask_index": 8, "stage_index": 4}, {"start": 196, "end": 221, "subtask": "let the empty balance settle and read its resting tilt", "stage": "let the empty balance settle and read its resting tilt", "subtask_index": 9, "stage_index": 5}, {"start": 221, "end": 451, "subtask": "pick up the leftmost of the four parcels on the counter", "stage": "pick up the leftmost of the four parcels on the counter", "subtask_index": 21, "stage_index": 17}, {"start": 451, "end": 703, "subtask": "put the parcel in the gripper on the left pan", "stage": "put the parcel in the gripper on the left pan", "subtask_index": 11, "stage_index": 7}, {"start": 703, "end": 932, "subtask": "pick up the rightmost of the three parcels on the counter", "stage": "pick up the rightmost of the three parcels on the counter", "subtask_index": 26, "stage_index": 22}, {"start": 932, "end": 1176, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 1176, "end": 1211, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 1211, "end": 1477, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 1477, "end": 1669, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 1669, "end": 1893, "subtask": "pick up the leftmost of the three parcels on the counter", "stage": "pick up the leftmost of the three parcels on the counter", "subtask_index": 72, "stage_index": 67}, {"start": 1893, "end": 2169, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 2169, "end": 2204, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 2204, "end": 2477, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 2477, "end": 2682, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 2682, "end": 2872, "subtask": "pick up the leftmost of the three parcels on the counter", "stage": "pick up the leftmost of the three parcels on the counter", "subtask_index": 72, "stage_index": 67}, {"start": 2872, "end": 3112, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 3112, "end": 3147, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 3147, "end": 3446, "subtask": "take the parcel on the left pan off the left pan", "stage": "take the parcel on the left pan off the left pan", "subtask_index": 23, "stage_index": 19}, {"start": 3446, "end": 3646, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 3646, "end": 3918, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 3918, "end": 4121, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 4121, "end": 4310, "subtask": "pick up the right one of the two parcels in the front row on the counter", "stage": "pick up the right one of the two parcels in the front row on the counter", "subtask_index": 89, "stage_index": 84}, {"start": 4310, "end": 4558, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 4558, "end": 4599, "subtask": "look over the counter before submitting", "stage": "look over the counter before submitting", "subtask_index": 28, "stage_index": 24}, {"start": 4599, "end": 4715, "subtask": "press Submit", "stage": "press Submit", "subtask_index": 29, "stage_index": 25}], "render": {"visfix": true, "objskin": "final", "bin_fix_geoms": [], "mug_liquid_hidden": [], "objskin_geoms": 0}, "ink_hook": false}
+{"episode_index": 499, "task_name": "odd_parcel", "instance_id": "8c3e6fe5266211c9", "caption_sha256": "8ac09cc0ce0a46d7f4221baffdb1db67c4ac9c76912c511415d8e2d088443eb4", "caption_version": "captions_v31b 2026-10-05", "length": 4740, "timeline": [{"start": 0, "end": 30, "subtask": "look over the counter", "stage": "look over the counter", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 198, "subtask": "drive up to the balance", "stage": "drive up to the balance", "subtask_index": 8, "stage_index": 4}, {"start": 198, "end": 223, "subtask": "let the empty balance settle and read its resting tilt", "stage": "let the empty balance settle and read its resting tilt", "subtask_index": 9, "stage_index": 5}, {"start": 223, "end": 417, "subtask": "pick up the second from the right of the four parcels on the counter", "stage": "pick up the second from the right of the four parcels on the counter", "subtask_index": 40, "stage_index": 36}, {"start": 417, "end": 706, "subtask": "put the parcel in the gripper on the left pan", "stage": "put the parcel in the gripper on the left pan", "subtask_index": 11, "stage_index": 7}, {"start": 706, "end": 955, "subtask": "pick up the middle of the three parcels on the counter", "stage": "pick up the middle of the three parcels on the counter", "subtask_index": 74, "stage_index": 69}, {"start": 955, "end": 1246, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 1246, "end": 1281, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 1281, "end": 1540, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 1540, "end": 1749, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 1749, "end": 1936, "subtask": "pick up the rightmost of the three parcels on the counter", "stage": "pick up the rightmost of the three parcels on the counter", "subtask_index": 26, "stage_index": 22}, {"start": 1936, "end": 2180, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 2180, "end": 2215, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 2215, "end": 2493, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 2493, "end": 2693, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 2693, "end": 2894, "subtask": "pick up the leftmost of the three parcels on the counter", "stage": "pick up the leftmost of the three parcels on the counter", "subtask_index": 72, "stage_index": 67}, {"start": 2894, "end": 3153, "subtask": "put the parcel in the gripper on the right pan", "stage": "put the parcel in the gripper on the right pan", "subtask_index": 13, "stage_index": 9}, {"start": 3153, "end": 3188, "subtask": "weigh the parcel on the left pan against the parcel on the right pan", "stage": "weigh the parcel on the left pan against the parcel on the right pan", "subtask_index": 14, "stage_index": 10}, {"start": 3188, "end": 3493, "subtask": "take the parcel on the left pan off the left pan", "stage": "take the parcel on the left pan off the left pan", "subtask_index": 23, "stage_index": 19}, {"start": 3493, "end": 3658, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 3658, "end": 3941, "subtask": "take the parcel on the right pan off the right pan", "stage": "take the parcel on the right pan off the right pan", "subtask_index": 15, "stage_index": 11}, {"start": 3941, "end": 4150, "subtask": "put the parcel in the gripper back on the counter", "stage": "put the parcel in the gripper back on the counter", "subtask_index": 16, "stage_index": 12}, {"start": 4150, "end": 4350, "subtask": "pick up the rightmost of the four parcels on the counter", "stage": "pick up the rightmost of the four parcels on the counter", "subtask_index": 22, "stage_index": 18}, {"start": 4350, "end": 4583, "subtask": "put the parcel in the gripper in the box", "stage": "put the parcel in the gripper in the box", "subtask_index": 25, "stage_index": 21}, {"start": 4583, "end": 4624, "subtask": "look over the counter before submitting", "stage": "look over the counter before submitting", "subtask_index": 28, "stage_index": 24}, {"start": 4624, "end": 4740, "subtask": "press Submit", "stage": "press Submit", "subtask_index": 29, "stage_index": 25}], "render": {"visfix": true, "objskin": "final", "bin_fix_geoms": [], "mug_liquid_hidden": [], "objskin_geoms": 0}, "ink_hook": false}
diff --git a/lerobot/odd_parcel/meta/stages.jsonl b/lerobot/odd_parcel/meta/stages.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54ce1a9a415588d2d199a5301042e9a94b1efdd0
--- /dev/null
+++ b/lerobot/odd_parcel/meta/stages.jsonl
@@ -0,0 +1,100 @@
+{"stage_index": 0, "stage": "look over the counter"}
+{"stage_index": 1, "stage": "clear what hides a parcel and bring every parcel within reach"}
+{"stage_index": 2, "stage": "pick up the top parcel of the stack on the counter"}
+{"stage_index": 3, "stage": "set the parcel in the gripper down on a clear part of the counter"}
+{"stage_index": 4, "stage": "drive up to the balance"}
+{"stage_index": 5, "stage": "let the empty balance settle and read its resting tilt"}
+{"stage_index": 6, "stage": "pick up the second from the left of the eight parcels on the counter"}
+{"stage_index": 7, "stage": "put the parcel in the gripper on the left pan"}
+{"stage_index": 8, "stage": "pick up the rightmost of the six parcels on the counter"}
+{"stage_index": 9, "stage": "put the parcel in the gripper on the right pan"}
+{"stage_index": 10, "stage": "weigh the parcel on the left pan against the parcel on the right pan"}
+{"stage_index": 11, "stage": "take the parcel on the right pan off the right pan"}
+{"stage_index": 12, "stage": "put the parcel in the gripper back on the counter"}
+{"stage_index": 13, "stage": "pick up the rightmost of the seven parcels on the counter"}
+{"stage_index": 14, "stage": "pick up the leftmost of the seven parcels on the counter"}
+{"stage_index": 15, "stage": "pick up the nearer of the two parcels at the right end on the counter"}
+{"stage_index": 16, "stage": "pick up the third from the left of the seven parcels on the counter"}
+{"stage_index": 17, "stage": "pick up the leftmost of the four parcels on the counter"}
+{"stage_index": 18, "stage": "pick up the rightmost of the four parcels on the counter"}
+{"stage_index": 19, "stage": "take the parcel on the left pan off the left pan"}
+{"stage_index": 20, "stage": "pick up the rightmost of the five parcels on the counter"}
+{"stage_index": 21, "stage": "put the parcel in the gripper in the box"}
+{"stage_index": 22, "stage": "pick up the rightmost of the three parcels on the counter"}
+{"stage_index": 23, "stage": "pick up the farther of the two parcels second from the left on the counter"}
+{"stage_index": 24, "stage": "look over the counter before submitting"}
+{"stage_index": 25, "stage": "press Submit"}
+{"stage_index": 26, "stage": "pick up the rightmost of the eight parcels on the counter"}
+{"stage_index": 27, "stage": "pick up the third from the right of the six parcels on the counter"}
+{"stage_index": 28, "stage": "pick up the nearest parcel on the counter"}
+{"stage_index": 29, "stage": "pick up the third from the left of the eight parcels on the counter"}
+{"stage_index": 30, "stage": "pick up the nearer of the two parcels second from the left on the counter"}
+{"stage_index": 31, "stage": "pick up the second from the left of the six parcels on the counter"}
+{"stage_index": 32, "stage": "pick up the third from the right of the seven parcels on the counter"}
+{"stage_index": 33, "stage": "pick up the leftmost of the five parcels on the counter"}
+{"stage_index": 34, "stage": "pick up the second from the left of the four parcels on the counter"}
+{"stage_index": 35, "stage": "pick up the nearer of the two parcels second from the right on the counter"}
+{"stage_index": 36, "stage": "pick up the second from the right of the four parcels on the counter"}
+{"stage_index": 37, "stage": "pick up the leftmost of the six parcels on the counter"}
+{"stage_index": 38, "stage": "pick up the farther of the two parcels at the left end on the counter"}
+{"stage_index": 39, "stage": "pick up the second from the left of the seven parcels on the counter"}
+{"stage_index": 40, "stage": "pick up the farther of the two parcels third from the right on the counter"}
+{"stage_index": 41, "stage": "pick up the fourth from the right of the eight parcels on the counter"}
+{"stage_index": 42, "stage": "pick up the right one of the two parcels in the back row on the counter"}
+{"stage_index": 43, "stage": "pick up the nearer of the two parcels at the left end on the counter"}
+{"stage_index": 44, "stage": "pick up the second from the right of the six parcels on the counter"}
+{"stage_index": 45, "stage": "pick up the farther of the two parcels at the right end on the counter"}
+{"stage_index": 46, "stage": "pick up the nearer of the two parcels third from the left on the counter"}
+{"stage_index": 47, "stage": "pick up the left one of the two parcels in the back row on the counter"}
+{"stage_index": 48, "stage": "pick up the second from the right of the five parcels on the counter"}
+{"stage_index": 49, "stage": "pick up the third from the right of the eight parcels on the counter"}
+{"stage_index": 50, "stage": "pick up the second from the left of the five parcels on the counter"}
+{"stage_index": 51, "stage": "pick up the middle of the seven parcels on the counter"}
+{"stage_index": 52, "stage": "pick up the leftmost of the four parcels in the front row on the counter"}
+{"stage_index": 53, "stage": "pick up the top parcel of the right one of the two stacks on the counter"}
+{"stage_index": 54, "stage": "pick up the third from the left of the six parcels on the counter"}
+{"stage_index": 55, "stage": "pick up the second from the right of the four parcels in the front row on the counter"}
+{"stage_index": 56, "stage": "pick up the nearer of the two parcels in the middle on the counter"}
+{"stage_index": 57, "stage": "pick up the fourth from the left of the eight parcels on the counter"}
+{"stage_index": 58, "stage": "pick up the farther of the two parcels second from the right on the counter"}
+{"stage_index": 59, "stage": "pick up the rightmost of the three parcels in the front row on the counter"}
+{"stage_index": 60, "stage": "pick up the leftmost of the eight parcels on the counter"}
+{"stage_index": 61, "stage": "pick up the rightmost of the four parcels in the front row on the counter"}
+{"stage_index": 62, "stage": "pick up the middle of the three parcels in the front row on the counter"}
+{"stage_index": 63, "stage": "pick up the left one of the two parcels in the front row on the counter"}
+{"stage_index": 64, "stage": "pick up the farther of the two parcels in the middle on the counter"}
+{"stage_index": 65, "stage": "pick up the second from the right of the eight parcels on the counter"}
+{"stage_index": 66, "stage": "pick up the second from the right of the seven parcels on the counter"}
+{"stage_index": 67, "stage": "pick up the leftmost of the three parcels on the counter"}
+{"stage_index": 68, "stage": "pick up the second from the left of the four parcels in the back row on the counter"}
+{"stage_index": 69, "stage": "pick up the middle of the three parcels on the counter"}
+{"stage_index": 70, "stage": "pick up the middle of the five parcels on the counter"}
+{"stage_index": 71, "stage": "pick up the farthest parcel on the counter"}
+{"stage_index": 72, "stage": "pick up the leftmost of the three parcels in the front row on the counter"}
+{"stage_index": 73, "stage": "pick up the second from the left of the four parcels in the front row on the counter"}
+{"stage_index": 74, "stage": "pick up the second from the right of the five parcels in the front row on the counter"}
+{"stage_index": 75, "stage": "pick up the rightmost of the five parcels in the front row on the counter"}
+{"stage_index": 76, "stage": "pick up the leftmost of the five parcels in the front row on the counter"}
+{"stage_index": 77, "stage": "pick up the top parcel of the left one of the two stacks on the counter"}
+{"stage_index": 78, "stage": "pick up the farther of the two parcels third from the left on the counter"}
+{"stage_index": 79, "stage": "pick up the rightmost of the six parcels in the front row on the counter"}
+{"stage_index": 80, "stage": "pick up the rightmost of the four parcels in the back row on the counter"}
+{"stage_index": 81, "stage": "pick up the parcel in the back row on the counter"}
+{"stage_index": 82, "stage": "pick up the rightmost of the seven parcels on your right"}
+{"stage_index": 83, "stage": "pick up the left one of the two parcels on the counter"}
+{"stage_index": 84, "stage": "pick up the right one of the two parcels in the front row on the counter"}
+{"stage_index": 85, "stage": "pick up the right one of the two parcels on the counter"}
+{"stage_index": 86, "stage": "pick up the top parcel of the farthest stack on the counter"}
+{"stage_index": 87, "stage": "pick up the nearer of the two parcels third from the right on the counter"}
+{"stage_index": 88, "stage": "pick up the middle of the three parcels in the back row on the counter"}
+{"stage_index": 89, "stage": "pick up the leftmost of the four parcels in the back row on the counter"}
+{"stage_index": 90, "stage": "pick up the second from the right of the four parcels in the back row on the counter"}
+{"stage_index": 91, "stage": "pick up the rightmost of the three parcels in the back row on the counter"}
+{"stage_index": 92, "stage": "pick up the leftmost of the five parcels in the back row on the counter"}
+{"stage_index": 93, "stage": "pick up the middle of the five parcels in the front row on the counter"}
+{"stage_index": 94, "stage": "pick up the second from the left of the five parcels in the front row on the counter"}
+{"stage_index": 95, "stage": "pick up the rightmost of the eight parcels on your right"}
+{"stage_index": 96, "stage": "pick up the parcel in the front row on the counter"}
+{"stage_index": 97, "stage": "pick up the parcel on the counter"}
+{"stage_index": 98, "stage": "pick up the leftmost of the three parcels in the back row on the counter"}
+{"stage_index": 99, "stage": "pick up the second from the left of the five parcels in the back row on the counter"}
diff --git a/lerobot/odd_parcel/meta/subtasks.jsonl b/lerobot/odd_parcel/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de379444f5dfa1a8bdb7ce267fa8f92da7f9ba92
--- /dev/null
+++ b/lerobot/odd_parcel/meta/subtasks.jsonl
@@ -0,0 +1,105 @@
+{"subtask_index": 0, "subtask": "look over the counter"}
+{"subtask_index": 1, "subtask": "lift the cloche by its knob"}
+{"subtask_index": 2, "subtask": "look around for the missing parcel"}
+{"subtask_index": 3, "subtask": "drive to the annex and pick up the parcel there"}
+{"subtask_index": 4, "subtask": "carry the parcel back to the other parcels"}
+{"subtask_index": 5, "subtask": "clear what hides a parcel and bring every parcel within reach"}
+{"subtask_index": 6, "subtask": "pick up the top parcel of the stack on the counter"}
+{"subtask_index": 7, "subtask": "set the parcel in the gripper down on a clear part of the counter"}
+{"subtask_index": 8, "subtask": "drive up to the balance"}
+{"subtask_index": 9, "subtask": "let the empty balance settle and read its resting tilt"}
+{"subtask_index": 10, "subtask": "pick up the second from the left of the eight parcels on the counter"}
+{"subtask_index": 11, "subtask": "put the parcel in the gripper on the left pan"}
+{"subtask_index": 12, "subtask": "pick up the rightmost of the six parcels on the counter"}
+{"subtask_index": 13, "subtask": "put the parcel in the gripper on the right pan"}
+{"subtask_index": 14, "subtask": "weigh the parcel on the left pan against the parcel on the right pan"}
+{"subtask_index": 15, "subtask": "take the parcel on the right pan off the right pan"}
+{"subtask_index": 16, "subtask": "put the parcel in the gripper back on the counter"}
+{"subtask_index": 17, "subtask": "pick up the rightmost of the seven parcels on the counter"}
+{"subtask_index": 18, "subtask": "pick up the leftmost of the seven parcels on the counter"}
+{"subtask_index": 19, "subtask": "pick up the nearer of the two parcels at the right end on the counter"}
+{"subtask_index": 20, "subtask": "pick up the third from the left of the seven parcels on the counter"}
+{"subtask_index": 21, "subtask": "pick up the leftmost of the four parcels on the counter"}
+{"subtask_index": 22, "subtask": "pick up the rightmost of the four parcels on the counter"}
+{"subtask_index": 23, "subtask": "take the parcel on the left pan off the left pan"}
+{"subtask_index": 24, "subtask": "pick up the rightmost of the five parcels on the counter"}
+{"subtask_index": 25, "subtask": "put the parcel in the gripper in the box"}
+{"subtask_index": 26, "subtask": "pick up the rightmost of the three parcels on the counter"}
+{"subtask_index": 27, "subtask": "pick up the farther of the two parcels second from the left on the counter"}
+{"subtask_index": 28, "subtask": "look over the counter before submitting"}
+{"subtask_index": 29, "subtask": "press Submit"}
+{"subtask_index": 30, "subtask": "pick up the rightmost of the eight parcels on the counter"}
+{"subtask_index": 31, "subtask": "pick up the third from the right of the six parcels on the counter"}
+{"subtask_index": 32, "subtask": "pick up the nearest parcel on the counter"}
+{"subtask_index": 33, "subtask": "pick up the third from the left of the eight parcels on the counter"}
+{"subtask_index": 34, "subtask": "pick up the nearer of the two parcels second from the left on the counter"}
+{"subtask_index": 35, "subtask": "pick up the second from the left of the six parcels on the counter"}
+{"subtask_index": 36, "subtask": "pick up the third from the right of the seven parcels on the counter"}
+{"subtask_index": 37, "subtask": "pick up the leftmost of the five parcels on the counter"}
+{"subtask_index": 38, "subtask": "pick up the second from the left of the four parcels on the counter"}
+{"subtask_index": 39, "subtask": "pick up the nearer of the two parcels second from the right on the counter"}
+{"subtask_index": 40, "subtask": "pick up the second from the right of the four parcels on the counter"}
+{"subtask_index": 41, "subtask": "pick up the leftmost of the six parcels on the counter"}
+{"subtask_index": 42, "subtask": "pick up the farther of the two parcels at the left end on the counter"}
+{"subtask_index": 43, "subtask": "pick up the second from the left of the seven parcels on the counter"}
+{"subtask_index": 44, "subtask": "pick up the farther of the two parcels third from the right on the counter"}
+{"subtask_index": 45, "subtask": "pick up the fourth from the right of the eight parcels on the counter"}
+{"subtask_index": 46, "subtask": "pick up the right one of the two parcels in the back row on the counter"}
+{"subtask_index": 47, "subtask": "pick up the nearer of the two parcels at the left end on the counter"}
+{"subtask_index": 48, "subtask": "pick up the second from the right of the six parcels on the counter"}
+{"subtask_index": 49, "subtask": "pick up the farther of the two parcels at the right end on the counter"}
+{"subtask_index": 50, "subtask": "pick up the nearer of the two parcels third from the left on the counter"}
+{"subtask_index": 51, "subtask": "pick up the left one of the two parcels in the back row on the counter"}
+{"subtask_index": 52, "subtask": "pick up the second from the right of the five parcels on the counter"}
+{"subtask_index": 53, "subtask": "pick up the third from the right of the eight parcels on the counter"}
+{"subtask_index": 54, "subtask": "pick up the second from the left of the five parcels on the counter"}
+{"subtask_index": 55, "subtask": "pick up the middle of the seven parcels on the counter"}
+{"subtask_index": 56, "subtask": "pick up the leftmost of the four parcels in the front row on the counter"}
+{"subtask_index": 57, "subtask": "pick up the top parcel of the right one of the two stacks on the counter"}
+{"subtask_index": 58, "subtask": "pick up the third from the left of the six parcels on the counter"}
+{"subtask_index": 59, "subtask": "pick up the second from the right of the four parcels in the front row on the counter"}
+{"subtask_index": 60, "subtask": "pick up the nearer of the two parcels in the middle on the counter"}
+{"subtask_index": 61, "subtask": "pick up the fourth from the left of the eight parcels on the counter"}
+{"subtask_index": 62, "subtask": "pick up the farther of the two parcels second from the right on the counter"}
+{"subtask_index": 63, "subtask": "pick up the rightmost of the three parcels in the front row on the counter"}
+{"subtask_index": 64, "subtask": "pick up the leftmost of the eight parcels on the counter"}
+{"subtask_index": 65, "subtask": "pick up the rightmost of the four parcels in the front row on the counter"}
+{"subtask_index": 66, "subtask": "pick up the middle of the three parcels in the front row on the counter"}
+{"subtask_index": 67, "subtask": "pick up the left one of the two parcels in the front row on the counter"}
+{"subtask_index": 68, "subtask": "pick up the farther of the two parcels in the middle on the counter"}
+{"subtask_index": 69, "subtask": "pick up the second from the right of the eight parcels on the counter"}
+{"subtask_index": 70, "subtask": "pick up the second from the right of the seven parcels on the counter"}
+{"subtask_index": 71, "subtask": "move the object hiding the parcel aside"}
+{"subtask_index": 72, "subtask": "pick up the leftmost of the three parcels on the counter"}
+{"subtask_index": 73, "subtask": "pick up the second from the left of the four parcels in the back row on the counter"}
+{"subtask_index": 74, "subtask": "pick up the middle of the three parcels on the counter"}
+{"subtask_index": 75, "subtask": "pick up the middle of the five parcels on the counter"}
+{"subtask_index": 76, "subtask": "pick up the farthest parcel on the counter"}
+{"subtask_index": 77, "subtask": "pick up the leftmost of the three parcels in the front row on the counter"}
+{"subtask_index": 78, "subtask": "pick up the second from the left of the four parcels in the front row on the counter"}
+{"subtask_index": 79, "subtask": "pick up the second from the right of the five parcels in the front row on the counter"}
+{"subtask_index": 80, "subtask": "pick up the rightmost of the five parcels in the front row on the counter"}
+{"subtask_index": 81, "subtask": "pick up the leftmost of the five parcels in the front row on the counter"}
+{"subtask_index": 82, "subtask": "pick up the top parcel of the left one of the two stacks on the counter"}
+{"subtask_index": 83, "subtask": "pick up the farther of the two parcels third from the left on the counter"}
+{"subtask_index": 84, "subtask": "pick up the rightmost of the six parcels in the front row on the counter"}
+{"subtask_index": 85, "subtask": "pick up the rightmost of the four parcels in the back row on the counter"}
+{"subtask_index": 86, "subtask": "pick up the parcel in the back row on the counter"}
+{"subtask_index": 87, "subtask": "pick up the rightmost of the seven parcels on your right"}
+{"subtask_index": 88, "subtask": "pick up the left one of the two parcels on the counter"}
+{"subtask_index": 89, "subtask": "pick up the right one of the two parcels in the front row on the counter"}
+{"subtask_index": 90, "subtask": "pick up the right one of the two parcels on the counter"}
+{"subtask_index": 91, "subtask": "pick up the top parcel of the farthest stack on the counter"}
+{"subtask_index": 92, "subtask": "pick up the nearer of the two parcels third from the right on the counter"}
+{"subtask_index": 93, "subtask": "pick up the middle of the three parcels in the back row on the counter"}
+{"subtask_index": 94, "subtask": "pick up the leftmost of the four parcels in the back row on the counter"}
+{"subtask_index": 95, "subtask": "pick up the second from the right of the four parcels in the back row on the counter"}
+{"subtask_index": 96, "subtask": "pick up the rightmost of the three parcels in the back row on the counter"}
+{"subtask_index": 97, "subtask": "pick up the leftmost of the five parcels in the back row on the counter"}
+{"subtask_index": 98, "subtask": "pick up the middle of the five parcels in the front row on the counter"}
+{"subtask_index": 99, "subtask": "pick up the second from the left of the five parcels in the front row on the counter"}
+{"subtask_index": 100, "subtask": "pick up the rightmost of the eight parcels on your right"}
+{"subtask_index": 101, "subtask": "pick up the parcel in the front row on the counter"}
+{"subtask_index": 102, "subtask": "pick up the parcel on the counter"}
+{"subtask_index": 103, "subtask": "pick up the leftmost of the three parcels in the back row on the counter"}
+{"subtask_index": 104, "subtask": "pick up the second from the left of the five parcels in the back row on the counter"}
diff --git a/lerobot/odd_parcel/meta/tasks.jsonl b/lerobot/odd_parcel/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2248d83a079da3700003c88751c8680e13b34bf5
--- /dev/null
+++ b/lerobot/odd_parcel/meta/tasks.jsonl
@@ -0,0 +1,4 @@
+{"task_index": 0, "task": "There are parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 1, "task": "There are 8 parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 2, "task": "There are 6 parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 3, "task": "There are 4 parcels on the counters in this kitchen. Most of these parcels weigh the same; fewer than half weigh differently. Put every parcel that weighs differently in the box and nothing else, leave the balance where it stands, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
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