diff --git a/lerobot/painted_cubes/meta/episodes.jsonl b/lerobot/painted_cubes/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4cc9fbe506157b02ef837a928d985327be3dcfc
--- /dev/null
+++ b/lerobot/painted_cubes/meta/episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "tasks": ["There are 6 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10737}
+{"episode_index": 1, "tasks": ["There are 6 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10057}
+{"episode_index": 2, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11576}
+{"episode_index": 3, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8829}
+{"episode_index": 4, "tasks": ["There are 6 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 9354}
+{"episode_index": 5, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10624}
+{"episode_index": 6, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8800}
+{"episode_index": 7, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 9115}
+{"episode_index": 8, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7943}
+{"episode_index": 9, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8017}
+{"episode_index": 10, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7948}
+{"episode_index": 11, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11732}
+{"episode_index": 12, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 12425}
+{"episode_index": 13, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 13332}
+{"episode_index": 14, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11777}
+{"episode_index": 15, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11982}
+{"episode_index": 16, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 13753}
+{"episode_index": 17, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 12010}
+{"episode_index": 18, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 12525}
+{"episode_index": 19, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10578}
+{"episode_index": 20, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11855}
+{"episode_index": 21, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10666}
+{"episode_index": 22, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10649}
+{"episode_index": 23, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11649}
+{"episode_index": 24, "tasks": ["There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 11558}
+{"episode_index": 25, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7697}
+{"episode_index": 26, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6229}
+{"episode_index": 27, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7040}
+{"episode_index": 28, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 9043}
+{"episode_index": 29, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6267}
+{"episode_index": 30, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8312}
+{"episode_index": 31, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 10447}
+{"episode_index": 32, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8099}
+{"episode_index": 33, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7501}
+{"episode_index": 34, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6568}
+{"episode_index": 35, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7193}
+{"episode_index": 36, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6479}
+{"episode_index": 37, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6492}
+{"episode_index": 38, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7732}
+{"episode_index": 39, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6765}
+{"episode_index": 40, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8056}
+{"episode_index": 41, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7605}
+{"episode_index": 42, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8057}
+{"episode_index": 43, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7570}
+{"episode_index": 44, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6963}
+{"episode_index": 45, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6575}
+{"episode_index": 46, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6389}
+{"episode_index": 47, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6453}
+{"episode_index": 48, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8328}
+{"episode_index": 49, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7685}
+{"episode_index": 50, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7018}
+{"episode_index": 51, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6593}
+{"episode_index": 52, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6424}
+{"episode_index": 53, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8448}
+{"episode_index": 54, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8769}
+{"episode_index": 55, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7678}
+{"episode_index": 56, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7218}
+{"episode_index": 57, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6505}
+{"episode_index": 58, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6515}
+{"episode_index": 59, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6673}
+{"episode_index": 60, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6838}
+{"episode_index": 61, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7186}
+{"episode_index": 62, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7368}
+{"episode_index": 63, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7994}
+{"episode_index": 64, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8562}
+{"episode_index": 65, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6711}
+{"episode_index": 66, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6498}
+{"episode_index": 67, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7926}
+{"episode_index": 68, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 9357}
+{"episode_index": 69, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6681}
+{"episode_index": 70, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6595}
+{"episode_index": 71, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6688}
+{"episode_index": 72, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8482}
+{"episode_index": 73, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8859}
+{"episode_index": 74, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7736}
+{"episode_index": 75, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6449}
+{"episode_index": 76, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6785}
+{"episode_index": 77, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 8193}
+{"episode_index": 78, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 9101}
+{"episode_index": 79, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6515}
+{"episode_index": 80, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6570}
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+{"episode_index": 82, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 7384}
+{"episode_index": 83, "tasks": ["There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6540}
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+{"episode_index": 85, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6308}
+{"episode_index": 86, "tasks": ["There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."], "length": 6308}
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diff --git a/lerobot/painted_cubes/meta/episodes_stats.jsonl b/lerobot/painted_cubes/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..906d1627ae7bd7a5215a179edae0fd694c815450
--- /dev/null
+++ b/lerobot/painted_cubes/meta/episodes_stats.jsonl
@@ -0,0 +1,500 @@
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diff --git a/lerobot/painted_cubes/meta/info.json b/lerobot/painted_cubes/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd389d2d4695496524e0351fb35b4dd786c9086f
--- /dev/null
+++ b/lerobot/painted_cubes/meta/info.json
@@ -0,0 +1,163 @@
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+                "video.channels": 3,
+                "has_audio": false,
+                "roboquest.sim_size": 256,
+                "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/painted_cubes/meta/roboquest_conversion.json b/lerobot/painted_cubes/meta/roboquest_conversion.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b4bd64bbdbd39ce032fd8cda8e03e105d9c4ad
--- /dev/null
+++ b/lerobot/painted_cubes/meta/roboquest_conversion.json
@@ -0,0 +1,43 @@
+{
+ "converter_sha256": "a2808d42ca7f1ed732d916183bd131af6a7cc2a4a660aa37feeb59f70f55f12c",
+ "written": "2026-10-05 12:21:15 +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)",
+ "caption_patches": [
+  {
+   "at": "2026-10-05 15:49:17 +0800",
+   "caption_version": "captions_v32 painted_cubes 2026-10-05",
+   "caption_dir": "captions_v32/final/painted_cubes",
+   "subtasks": 57,
+   "stages": 55
+  }
+ ]
+}
\ No newline at end of file
diff --git a/lerobot/painted_cubes/meta/roboquest_episodes.jsonl b/lerobot/painted_cubes/meta/roboquest_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..140a61ee2d2141b567eca253a7b7236d1ca655b1
--- /dev/null
+++ b/lerobot/painted_cubes/meta/roboquest_episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "task_name": "painted_cubes", "instance_id": "8fcaf0a650e5fe33", "caption_sha256": "4e05024e282de399129a36ec072ad49caccb95fcc302458437e9842b59ee833e", "caption_version": "captions_v32 painted_cubes 2026-10-05", "length": 10737, "timeline": [{"start": 0, "end": 150, "subtask": "look around for the missing cube", "stage": "look around for the missing cube", "subtask_index": 0, "stage_index": 0}, {"start": 150, "end": 491, "subtask": "drive to the annex and pick up the cube there", "stage": "drive to the annex and pick up the cube there", "subtask_index": 1, "stage_index": 1}, {"start": 491, "end": 997, "subtask": "carry the cube back to the other cubes", "stage": "carry the cube back to the other cubes", "subtask_index": 2, "stage_index": 2}, {"start": 997, "end": 1554, "subtask": "lift the cloche by its knob", "stage": "lift the cloche by its knob", "subtask_index": 3, "stage_index": 3}, {"start": 1554, "end": 1770, "subtask": "pick up the nearer of the two cubes second from the left on the counter", "stage": "pick up the nearer of the two cubes second from the left on the counter and show every face to the cameras", "subtask_index": 4, "stage_index": 4}, {"start": 1770, "end": 2583, "subtask": "show every face of the cube to the cameras", "stage": "pick up the nearer of the two cubes second from the left on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 4}, {"start": 2583, "end": 2958, "subtask": "put the cube in the blue bin", "stage": "put the cube in the blue bin", "subtask_index": 6, "stage_index": 5}, {"start": 2958, "end": 3197, "subtask": "pick up the second from the right of the five cubes on the counter", "stage": "pick up the second from the right of the five cubes on the counter and show every face to the cameras", "subtask_index": 7, "stage_index": 6}, {"start": 3197, "end": 3933, "subtask": "show every face of the cube to the cameras", "stage": "pick up the second from the right of the five cubes on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 6}, {"start": 3933, "end": 4220, "subtask": "put the cube in the yellow bin", "stage": "put the cube in the yellow bin", "subtask_index": 8, "stage_index": 7}, {"start": 4220, "end": 4465, "subtask": "pick up the second from the left of the four cubes on the counter", "stage": "pick up the second from the left of the four cubes on the counter and show every face to the cameras", "subtask_index": 9, "stage_index": 8}, {"start": 4465, "end": 5202, "subtask": "show every face of the cube to the cameras", "stage": "pick up the second from the left of the four cubes on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 8}, {"start": 5202, "end": 5527, "subtask": "put the cube in the blue bin", "stage": "put the cube in the blue bin", "subtask_index": 6, "stage_index": 5}, {"start": 5527, "end": 5792, "subtask": "pick up the rightmost of the three cubes on the counter", "stage": "pick up the rightmost of the three cubes on the counter and show every face to the cameras", "subtask_index": 10, "stage_index": 9}, {"start": 5792, "end": 6528, "subtask": "show every face of the cube to the cameras", "stage": "pick up the rightmost of the three cubes on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 9}, {"start": 6528, "end": 6964, "subtask": "put the cube in the blue bin", "stage": "put the cube in the blue bin", "subtask_index": 6, "stage_index": 5}, {"start": 6964, "end": 7307, "subtask": "clear what is stacked on top of the cube", "stage": "sweep the plate off the cube", "subtask_index": 11, "stage_index": 10}, {"start": 7307, "end": 7486, "subtask": "pick up the farthest cube on the counter", "stage": "pick up the farthest cube on the counter and show every face to the cameras", "subtask_index": 12, "stage_index": 11}, {"start": 7486, "end": 8311, "subtask": "show every face of the cube to the cameras", "stage": "pick up the farthest cube on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 11}, {"start": 8311, "end": 8636, "subtask": "put the cube in the yellow bin", "stage": "put the cube in the yellow bin", "subtask_index": 8, "stage_index": 7}, {"start": 8636, "end": 9118, "subtask": "take the plate off the cube", "stage": "sweep the plate off the cube", "subtask_index": 13, "stage_index": 10}, {"start": 9118, "end": 9312, "subtask": "pick up the cube on the counter", "stage": "pick up the cube on the counter and show every face to the cameras", "subtask_index": 14, "stage_index": 12}, {"start": 9312, "end": 10123, "subtask": "show every face of the cube to the cameras", "stage": "pick up the cube on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 12}, {"start": 10123, "end": 10543, "subtask": "put the cube in the yellow bin", "stage": "put the cube in the yellow bin", "subtask_index": 8, "stage_index": 7}, {"start": 10543, "end": 10737, "subtask": "press Submit", "stage": "press Submit", "subtask_index": 15, "stage_index": 13}], "render": {"visfix": true, "objskin": "final", "bin_fix_geoms": ["cube_bin_blue_wall_x_-1", "cube_bin_blue_wall_x_-1_visual", "cube_bin_blue_wall_y_-1", "cube_bin_blue_wall_y_-1_visual", "cube_bin_blue_wall_x_+1", "cube_bin_blue_wall_x_+1_visual", "cube_bin_blue_wall_y_+1", "cube_bin_blue_wall_y_+1_visual", "cube_bin_yellow_wall_x_-1", "cube_bin_yellow_wall_x_-1_visual", "cube_bin_yellow_wall_y_-1", "cube_bin_yellow_wall_y_-1_visual", "cube_bin_yellow_wall_x_+1", "cube_bin_yellow_wall_x_+1_visual", "cube_bin_yellow_wall_y_+1", "cube_bin_yellow_wall_y_+1_visual"], "mug_liquid_hidden": [], "objskin_geoms": 0}, "ink_hook": false}
+{"episode_index": 1, "task_name": "painted_cubes", "instance_id": "e903a8b562879839", "caption_sha256": "12b22b9d84eecef02458c21d64c7be0e9ec3dd5446ad31a4877ebab8fcac16c3", "caption_version": "captions_v32 painted_cubes 2026-10-05", "length": 10057, "timeline": [{"start": 0, "end": 120, "subtask": "look around for the missing cube", "stage": "look around for the missing cube", "subtask_index": 0, "stage_index": 0}, {"start": 120, "end": 525, "subtask": "drive to the annex and pick up the cube there", "stage": "drive to the annex and pick up the cube there", "subtask_index": 1, "stage_index": 1}, {"start": 525, "end": 1141, "subtask": "carry the cube back to the other cubes", "stage": "carry the cube back to the other cubes", "subtask_index": 2, "stage_index": 2}, {"start": 1141, "end": 1590, "subtask": "lift the cloche by its knob", "stage": "lift the cloche by its knob", "subtask_index": 3, "stage_index": 3}, {"start": 1590, "end": 1830, "subtask": "clear what is stacked on top of the 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5812, "end": 6046, "subtask": "pick up the nearer of the two cubes at the left end on the counter", "stage": "pick up the nearer of the two cubes at the left end on the counter and show every face to the cameras", "subtask_index": 19, "stage_index": 17}, {"start": 6046, "end": 6782, "subtask": "show every face of the cube to the cameras", "stage": "pick up the nearer of the two cubes at the left end on the counter and show every face to the cameras", "subtask_index": 5, "stage_index": 17}, {"start": 6782, "end": 7077, "subtask": "put the cube in the blue bin", "stage": "put the cube in the blue bin", "subtask_index": 6, "stage_index": 5}, {"start": 7077, "end": 7372, "subtask": "clear what is stacked on top of the cube", "stage": "sweep the plate off the cube", "subtask_index": 11, "stage_index": 10}, {"start": 7372, "end": 7529, "subtask": "pick up the right one of the two cubes on the counter", "stage": "pick up the right one of the two cubes on the counter and show every face to the 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+{"episode_index": 2, "task_name": "painted_cubes", "instance_id": "9125374dd4a720d4", "caption_sha256": "356d6acbe7061f7c4e30a460d0bac18cf8fef5e624eb500b52f5e1715b2b51a3", "caption_version": "captions_v32 painted_cubes 2026-10-05", "length": 11576, "timeline": [{"start": 0, "end": 921, "subtask": "move the object hiding the cube aside", "stage": "move the object hiding the cube aside", "subtask_index": 21, "stage_index": 19}, {"start": 921, "end": 1155, "subtask": "drive to the annex and pick up the cube there", "stage": "drive to the annex and pick up the cube there", "subtask_index": 1, "stage_index": 1}, {"start": 1155, "end": 2059, "subtask": "carry the cube back to the other cubes", "stage": "carry the cube back to the other cubes", "subtask_index": 2, "stage_index": 2}, {"start": 2059, "end": 2599, "subtask": "lift the cloche by its knob", "stage": "lift the cloche by its knob", "subtask_index": 3, "stage_index": 3}, {"start": 2599, "end": 2854, "subtask": "pick up the second 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diff --git a/lerobot/painted_cubes/meta/stages.jsonl b/lerobot/painted_cubes/meta/stages.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c47ffe962af8e617a1d9344f31f6e5f45c21a328
--- /dev/null
+++ b/lerobot/painted_cubes/meta/stages.jsonl
@@ -0,0 +1,55 @@
+{"stage_index": 0, "stage": "look around for the missing cube"}
+{"stage_index": 1, "stage": "drive to the annex and pick up the cube there"}
+{"stage_index": 2, "stage": "carry the cube back to the other cubes"}
+{"stage_index": 3, "stage": "lift the cloche by its knob"}
+{"stage_index": 4, "stage": "pick up the nearer of the two cubes second from the left on the counter and show every face to the cameras"}
+{"stage_index": 5, "stage": "put the cube in the blue bin"}
+{"stage_index": 6, "stage": "pick up the second from the right of the five cubes on the counter and show every face to the cameras"}
+{"stage_index": 7, "stage": "put the cube in the yellow bin"}
+{"stage_index": 8, "stage": "pick up the second from the left of the four cubes on the counter and show every face to the cameras"}
+{"stage_index": 9, "stage": "pick up the rightmost of the three cubes on the counter and show every face to the cameras"}
+{"stage_index": 10, "stage": "sweep the plate off the cube"}
+{"stage_index": 11, "stage": "pick up the farthest cube on the counter and show every face to the cameras"}
+{"stage_index": 12, "stage": "pick up the cube on the counter and show every face to the cameras"}
+{"stage_index": 13, "stage": "press Submit"}
+{"stage_index": 14, "stage": "pick up the nearer of the two cubes at the right end on the counter and show every face to the cameras"}
+{"stage_index": 15, "stage": "pick up the leftmost of the five cubes on the counter and show every face to the cameras"}
+{"stage_index": 16, "stage": "pick up the leftmost of the four cubes on the counter and show every face to the cameras"}
+{"stage_index": 17, "stage": "pick up the nearer of the two cubes at the left end on the counter and show every face to the cameras"}
+{"stage_index": 18, "stage": "pick up the right one of the two cubes on the counter and show every face to the cameras"}
+{"stage_index": 19, "stage": "move the object hiding the cube aside"}
+{"stage_index": 20, "stage": "pick up the second from the right of the six cubes on the counter and show every face to the cameras"}
+{"stage_index": 21, "stage": "sweep the top cube off the cube below it"}
+{"stage_index": 22, "stage": "pick up the third from the right of the six cubes on the counter and show every face to the cameras"}
+{"stage_index": 23, "stage": "pick up the left one of the two cubes on the counter and show every face to the cameras"}
+{"stage_index": 24, "stage": "pick up the second from the left of the six cubes on the counter and show every face to the cameras"}
+{"stage_index": 25, "stage": "pick up the leftmost of the three cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 26, "stage": "pick up the rightmost of the three cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 27, "stage": "pick up the right one of the two cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 28, "stage": "pick up the cube in the front row on the counter and show every face to the cameras"}
+{"stage_index": 29, "stage": "pick up the leftmost of the three cubes on the counter and show every face to the cameras"}
+{"stage_index": 30, "stage": "pick up the third from the left of the six cubes on the counter and show every face to the cameras"}
+{"stage_index": 31, "stage": "pick up the leftmost of the six cubes on the counter and show every face to the cameras"}
+{"stage_index": 32, "stage": "pick up the rightmost of the five cubes on the counter and show every face to the cameras"}
+{"stage_index": 33, "stage": "pick up the rightmost of the six cubes on the counter and show every face to the cameras"}
+{"stage_index": 34, "stage": "pick up the nearer of the two cubes second from the right on the counter and show every face to the cameras"}
+{"stage_index": 35, "stage": "pick up the middle of the three cubes on the counter and show every face to the cameras"}
+{"stage_index": 36, "stage": "pick up the nearest cube on the counter and show every face to the cameras"}
+{"stage_index": 37, "stage": "pick up the second from the left of the five cubes on the counter and show every face to the cameras"}
+{"stage_index": 38, "stage": "pick up the second from the left of the seven cubes on the counter and show every face to the cameras"}
+{"stage_index": 39, "stage": "pick up the nearer of the two cubes third from the right on the counter and show every face to the cameras"}
+{"stage_index": 40, "stage": "pick up the leftmost of the seven cubes on the counter and show every face to the cameras"}
+{"stage_index": 41, "stage": "pick up the second from the left of the four cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 42, "stage": "pick up the rightmost of the four cubes on the counter and show every face to the cameras"}
+{"stage_index": 43, "stage": "pick up the third from the left of the seven cubes on the counter and show every face to the cameras"}
+{"stage_index": 44, "stage": "pick up the second from the right of the four cubes on the counter and show every face to the cameras"}
+{"stage_index": 45, "stage": "pick up the fourth from the left of the eight cubes on the counter and show every face to the cameras"}
+{"stage_index": 46, "stage": "pick up the second from the left of the eight cubes on the counter and show every face to the cameras"}
+{"stage_index": 47, "stage": "pick up the second from the right of the seven cubes on the counter and show every face to the cameras"}
+{"stage_index": 48, "stage": "pick up the leftmost of the eight cubes on the counter and show every face to the cameras"}
+{"stage_index": 49, "stage": "pick up the nearer of the two cubes in the middle on the counter and show every face to the cameras"}
+{"stage_index": 50, "stage": "pick up the third from the right of the eight cubes on the counter and show every face to the cameras"}
+{"stage_index": 51, "stage": "pick up the rightmost of the four cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 52, "stage": "pick up the left one of the two cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 53, "stage": "pick up the middle of the three cubes in the front row on the counter and show every face to the cameras"}
+{"stage_index": 54, "stage": "pick up the farther of the two cubes at the right end on the counter and show every face to the cameras"}
diff --git a/lerobot/painted_cubes/meta/subtasks.jsonl b/lerobot/painted_cubes/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34511e2c2f94029100f9460b693152d8b87a4fc8
--- /dev/null
+++ b/lerobot/painted_cubes/meta/subtasks.jsonl
@@ -0,0 +1,57 @@
+{"subtask_index": 0, "subtask": "look around for the missing cube"}
+{"subtask_index": 1, "subtask": "drive to the annex and pick up the cube there"}
+{"subtask_index": 2, "subtask": "carry the cube back to the other cubes"}
+{"subtask_index": 3, "subtask": "lift the cloche by its knob"}
+{"subtask_index": 4, "subtask": "pick up the nearer of the two cubes second from the left on the counter"}
+{"subtask_index": 5, "subtask": "show every face of the cube to the cameras"}
+{"subtask_index": 6, "subtask": "put the cube in the blue bin"}
+{"subtask_index": 7, "subtask": "pick up the second from the right of the five cubes on the counter"}
+{"subtask_index": 8, "subtask": "put the cube in the yellow bin"}
+{"subtask_index": 9, "subtask": "pick up the second from the left of the four cubes on the counter"}
+{"subtask_index": 10, "subtask": "pick up the rightmost of the three cubes on the counter"}
+{"subtask_index": 11, "subtask": "clear what is stacked on top of the cube"}
+{"subtask_index": 12, "subtask": "pick up the farthest cube on the counter"}
+{"subtask_index": 13, "subtask": "take the plate off the cube"}
+{"subtask_index": 14, "subtask": "pick up the cube on the counter"}
+{"subtask_index": 15, "subtask": "press Submit"}
+{"subtask_index": 16, "subtask": "pick up the nearer of the two cubes at the right end on the counter"}
+{"subtask_index": 17, "subtask": "pick up the leftmost of the five cubes on the counter"}
+{"subtask_index": 18, "subtask": "pick up the leftmost of the four cubes on the counter"}
+{"subtask_index": 19, "subtask": "pick up the nearer of the two cubes at the left end on the counter"}
+{"subtask_index": 20, "subtask": "pick up the right one of the two cubes on the counter"}
+{"subtask_index": 21, "subtask": "move the object hiding the cube aside"}
+{"subtask_index": 22, "subtask": "pick up the second from the right of the six cubes on the counter"}
+{"subtask_index": 23, "subtask": "pick up the third from the right of the six cubes on the counter"}
+{"subtask_index": 24, "subtask": "pick up the left one of the two cubes on the counter"}
+{"subtask_index": 25, "subtask": "pick up the second from the left of the six cubes on the counter"}
+{"subtask_index": 26, "subtask": "pick up the leftmost of the three cubes in the front row on the counter"}
+{"subtask_index": 27, "subtask": "pick up the rightmost of the three cubes in the front row on the counter"}
+{"subtask_index": 28, "subtask": "pick up the right one of the two cubes in the front row on the counter"}
+{"subtask_index": 29, "subtask": "pick up the cube in the front row on the counter"}
+{"subtask_index": 30, "subtask": "pick up the leftmost of the three cubes on the counter"}
+{"subtask_index": 31, "subtask": "pick up the third from the left of the six cubes on the counter"}
+{"subtask_index": 32, "subtask": "pick up the leftmost of the six cubes on the counter"}
+{"subtask_index": 33, "subtask": "pick up the rightmost of the five cubes on the counter"}
+{"subtask_index": 34, "subtask": "pick up the rightmost of the six cubes on the counter"}
+{"subtask_index": 35, "subtask": "pick up the nearer of the two cubes second from the right on the counter"}
+{"subtask_index": 36, "subtask": "pick up the middle of the three cubes on the counter"}
+{"subtask_index": 37, "subtask": "pick up the nearest cube on the counter"}
+{"subtask_index": 38, "subtask": "pick up the second from the left of the five cubes on the counter"}
+{"subtask_index": 39, "subtask": "pick up the second from the left of the seven cubes on the counter"}
+{"subtask_index": 40, "subtask": "pick up the nearer of the two cubes third from the right on the counter"}
+{"subtask_index": 41, "subtask": "pick up the leftmost of the seven cubes on the counter"}
+{"subtask_index": 42, "subtask": "pick up the second from the left of the four cubes in the front row on the counter"}
+{"subtask_index": 43, "subtask": "sweep the plate off the cube"}
+{"subtask_index": 44, "subtask": "pick up the rightmost of the four cubes on the counter"}
+{"subtask_index": 45, "subtask": "pick up the third from the left of the seven cubes on the counter"}
+{"subtask_index": 46, "subtask": "pick up the second from the right of the four cubes on the counter"}
+{"subtask_index": 47, "subtask": "pick up the fourth from the left of the eight cubes on the counter"}
+{"subtask_index": 48, "subtask": "pick up the second from the left of the eight cubes on the counter"}
+{"subtask_index": 49, "subtask": "pick up the second from the right of the seven cubes on the counter"}
+{"subtask_index": 50, "subtask": "pick up the leftmost of the eight cubes on the counter"}
+{"subtask_index": 51, "subtask": "pick up the nearer of the two cubes in the middle on the counter"}
+{"subtask_index": 52, "subtask": "pick up the third from the right of the eight cubes on the counter"}
+{"subtask_index": 53, "subtask": "pick up the rightmost of the four cubes in the front row on the counter"}
+{"subtask_index": 54, "subtask": "pick up the left one of the two cubes in the front row on the counter"}
+{"subtask_index": 55, "subtask": "pick up the middle of the three cubes in the front row on the counter"}
+{"subtask_index": 56, "subtask": "pick up the farther of the two cubes at the right end on the counter"}
diff --git a/lerobot/painted_cubes/meta/tasks.jsonl b/lerobot/painted_cubes/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f92080a831d546486be762fa09018f533a8ab195
--- /dev/null
+++ b/lerobot/painted_cubes/meta/tasks.jsonl
@@ -0,0 +1,69 @@
+{"task_index": 0, "task": "There are 6 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, 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 6 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, 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 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, 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 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 4, "task": "There are 6 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 5, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 6, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 7, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 8, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 9, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 10, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 11, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 12, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 13, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 14, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 15, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 16, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 17, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 18, "task": "There are 8 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 19, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 20, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 21, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 22, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 23, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 24, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 25, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 26, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 27, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 28, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 29, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 30, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 31, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 32, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 33, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 34, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 35, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube with exactly one marked face. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 36, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 37, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue mark. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 38, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 39, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 40, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 41, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 42, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 43, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 44, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 45, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 46, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 47, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 48, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 49, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 50, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 51, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 52, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 53, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 54, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 55, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a green circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 56, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 57, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black star. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 58, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 59, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 60, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a black circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 61, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue triangle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 62, "task": "There are 4 cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 63, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a blue square. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 64, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red cross. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
+{"task_index": 65, "task": "There are cubes on the counters in this kitchen. Some of them satisfy this rule: every cube that has a red circle. Put every cube that satisfies it in the blue bin and every other cube in the yellow bin, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
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