diff --git a/lerobot/marked_mugs/meta/episodes.jsonl b/lerobot/marked_mugs/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..026a283428aab1bf4917939304a8723410aa973b
--- /dev/null
+++ b/lerobot/marked_mugs/meta/episodes.jsonl
@@ -0,0 +1,500 @@
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diff --git a/lerobot/marked_mugs/meta/episodes_stats.jsonl b/lerobot/marked_mugs/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0151c0cb3d2e4b3866daada4e7cc99296b14d1b8
--- /dev/null
+++ b/lerobot/marked_mugs/meta/episodes_stats.jsonl
@@ -0,0 +1,500 @@
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diff --git a/lerobot/marked_mugs/meta/info.json b/lerobot/marked_mugs/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6fbbf87c3edcd391b9974b8e37bc5edf8df5bad
--- /dev/null
+++ b/lerobot/marked_mugs/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/marked_mugs/meta/roboquest_conversion.json b/lerobot/marked_mugs/meta/roboquest_conversion.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8e1a6a435eb12ddb970d5b6894ea50a50ffe72
--- /dev/null
+++ b/lerobot/marked_mugs/meta/roboquest_conversion.json
@@ -0,0 +1,34 @@
+{
+ "converter_sha256": "a2808d42ca7f1ed732d916183bd131af6a7cc2a4a660aa37feeb59f70f55f12c",
+ "written": "2026-10-05 14:28:35 +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/marked_mugs/meta/roboquest_episodes.jsonl b/lerobot/marked_mugs/meta/roboquest_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76d91ca6d8b5fab74e5ac5669f895b112a2487d0
--- /dev/null
+++ b/lerobot/marked_mugs/meta/roboquest_episodes.jsonl
@@ -0,0 +1,500 @@
+{"episode_index": 0, "task_name": "marked_mugs", "instance_id": "098910e6b300b45f", "caption_sha256": "cc4454514d6cd356aec814afef555046cab25aada3fc6e24eef38d6db5aee070", "caption_version": "captions_v31 2026-10-04", "length": 3040, "timeline": [{"start": 0, "end": 30, "subtask": "look over the mugs and the colored pads", "stage": "look over the mugs and the colored pads", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 279, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 279, "end": 758, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 758, "end": 984, "subtask": "place the inspected mug on the blue pad with both original balls", "stage": "place the inspected mug on the blue pad with both original balls", "subtask_index": 3, "stage_index": 3}, {"start": 984, "end": 1235, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 1235, "end": 1557, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 1557, "end": 1853, "subtask": "place the inspected mug on the red pad with both original balls", "stage": "place the inspected mug on the red pad with both original balls", "subtask_index": 4, "stage_index": 4}, {"start": 1853, "end": 2143, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 2143, "end": 2477, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 2477, "end": 2775, "subtask": "place the inspected mug on the yellow pad with both original balls", "stage": "place the inspected mug on the yellow pad with both original balls", "subtask_index": 5, "stage_index": 5}, {"start": 2775, "end": 2913, "subtask": "move the arm clear of the pads", "stage": "move the arm clear of the pads", "subtask_index": 6, "stage_index": 6}, {"start": 2913, "end": 3040, "subtask": "press Submit after inspecting and sorting every loaded mug", "stage": "press Submit after inspecting and sorting every loaded mug", "subtask_index": 7, "stage_index": 7}], "render": {"visfix": true, "objskin": null, "bin_fix_geoms": [], "mug_liquid_hidden": []}, "ink_hook": false}
+{"episode_index": 1, "task_name": "marked_mugs", "instance_id": "098ed8aed8c012a3", "caption_sha256": "14cddd3785dd3d11184d27d53c3bdfb6e3f115c509a0d9adbcd0f5d939caa138", "caption_version": "captions_v31 2026-10-04", "length": 2994, "timeline": [{"start": 0, "end": 30, "subtask": "look over the mugs and the colored pads", "stage": "look over the mugs and the colored pads", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 263, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 263, "end": 596, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 596, "end": 900, "subtask": "place the inspected mug on the red pad with both original balls", "stage": "place the inspected mug on the red pad with both original balls", "subtask_index": 4, "stage_index": 4}, {"start": 900, "end": 1189, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 1189, "end": 1528, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 1528, "end": 1825, "subtask": "place the inspected mug on the yellow pad with both original balls", "stage": "place the inspected mug on the yellow pad with both original balls", "subtask_index": 5, "stage_index": 5}, {"start": 1825, "end": 2112, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 2112, "end": 2441, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 2441, "end": 2738, "subtask": "place the inspected mug on the green pad with both original balls", "stage": "place the inspected mug on the green pad with both original balls", "subtask_index": 8, "stage_index": 8}, {"start": 2738, "end": 2867, "subtask": "move the arm clear of the pads", "stage": "move the arm clear of the pads", "subtask_index": 6, "stage_index": 6}, {"start": 2867, "end": 2994, "subtask": "press Submit after inspecting and sorting every loaded mug", "stage": "press Submit after inspecting and sorting every loaded mug", "subtask_index": 7, "stage_index": 7}], "render": {"visfix": true, "objskin": null, "bin_fix_geoms": [], "mug_liquid_hidden": []}, "ink_hook": false}
+{"episode_index": 2, "task_name": "marked_mugs", "instance_id": "0ae180c82b598638", "caption_sha256": "3033abc13bedbb3e20c333a2455bc4fde9e095154f7cd24ffe2a16ce0cdfd75b", "caption_version": "captions_v31 2026-10-04", "length": 3058, "timeline": [{"start": 0, "end": 30, "subtask": "look over the mugs and the colored pads", "stage": "look over the mugs and the colored pads", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 249, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 249, "end": 582, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 582, "end": 882, "subtask": "place the inspected mug on the yellow pad with both original balls", "stage": "place the inspected mug on the yellow pad with both original balls", "subtask_index": 5, "stage_index": 5}, {"start": 882, "end": 1168, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 1168, "end": 1635, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 1635, "end": 1855, "subtask": "place the inspected mug on the red pad with both original balls", "stage": "place the inspected mug on the red pad with both original balls", "subtask_index": 4, "stage_index": 4}, {"start": 1855, "end": 2127, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 2127, "end": 2557, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 2557, "end": 2811, "subtask": "place the inspected mug on the green pad with both original balls", "stage": "place the inspected mug on the green pad with both original balls", "subtask_index": 8, "stage_index": 8}, {"start": 2811, "end": 2912, "subtask": "move the arm clear of the pads", "stage": "move the arm clear of the pads", "subtask_index": 6, "stage_index": 6}, {"start": 2912, "end": 3058, "subtask": "press Submit after inspecting and sorting every loaded mug", "stage": "press Submit after inspecting and sorting every loaded mug", "subtask_index": 7, "stage_index": 7}], "render": {"visfix": true, "objskin": null, "bin_fix_geoms": [], "mug_liquid_hidden": []}, "ink_hook": false}
+{"episode_index": 3, "task_name": "marked_mugs", "instance_id": "0b7e670d97d3ef19", "caption_sha256": "4113bcc2233dd0d0b0071fd18692fb413a0ab022517f36fd2bca1273b3e493cf", "caption_version": "captions_v31 2026-10-04", "length": 3038, "timeline": [{"start": 0, "end": 30, "subtask": "look over the mugs and the colored pads", "stage": "look over the mugs and the colored pads", "subtask_index": 0, "stage_index": 0}, {"start": 30, "end": 268, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 268, "end": 598, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 598, "end": 924, "subtask": "place the inspected mug on the yellow pad with both original balls", "stage": "place the inspected mug on the yellow pad with both original balls", "subtask_index": 5, "stage_index": 5}, {"start": 924, "end": 1208, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 1208, "end": 1566, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 1566, "end": 1861, "subtask": "place the inspected mug on the red pad with both original balls", "stage": "place the inspected mug on the red pad with both original balls", "subtask_index": 4, "stage_index": 4}, {"start": 1861, "end": 2144, "subtask": "grasp a clear flat part of the mug handle and lift it", "stage": "grasp a clear flat part of the mug handle and lift it", "subtask_index": 1, "stage_index": 1}, {"start": 2144, "end": 2481, "subtask": "raise and gently tilt the loaded mug to inspect its underside", "stage": "raise and gently tilt the loaded mug to inspect its underside", "subtask_index": 2, "stage_index": 2}, {"start": 2481, "end": 2777, "subtask": "place the inspected mug on the green pad with both original balls", "stage": "place the inspected mug on the green pad with both original balls", "subtask_index": 8, "stage_index": 8}, {"start": 2777, "end": 2904, "subtask": "move the arm clear of the pads", "stage": "move the arm clear of the pads", "subtask_index": 6, "stage_index": 6}, {"start": 2904, "end": 3038, "subtask": "press Submit after inspecting and sorting every loaded mug", "stage": "press Submit after inspecting and sorting every loaded mug", "subtask_index": 7, "stage_index": 7}], "render": {"visfix": true, "objskin": null, "bin_fix_geoms": [], "mug_liquid_hidden": []}, "ink_hook": false}
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diff --git a/lerobot/marked_mugs/meta/stages.jsonl b/lerobot/marked_mugs/meta/stages.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8112e04ade3555e6404b800a3ab823cb50181296
--- /dev/null
+++ b/lerobot/marked_mugs/meta/stages.jsonl
@@ -0,0 +1,10 @@
+{"stage_index": 0, "stage": "look over the mugs and the colored pads"}
+{"stage_index": 1, "stage": "grasp a clear flat part of the mug handle and lift it"}
+{"stage_index": 2, "stage": "raise and gently tilt the loaded mug to inspect its underside"}
+{"stage_index": 3, "stage": "place the inspected mug on the blue pad with both original balls"}
+{"stage_index": 4, "stage": "place the inspected mug on the red pad with both original balls"}
+{"stage_index": 5, "stage": "place the inspected mug on the yellow pad with both original balls"}
+{"stage_index": 6, "stage": "move the arm clear of the pads"}
+{"stage_index": 7, "stage": "press Submit after inspecting and sorting every loaded mug"}
+{"stage_index": 8, "stage": "place the inspected mug on the green pad with both original balls"}
+{"stage_index": 9, "stage": "place the inspected mug on the purple pad with both original balls"}
diff --git a/lerobot/marked_mugs/meta/subtasks.jsonl b/lerobot/marked_mugs/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c560449d6e9fa80174c0d1045e8923a8a28a1a41
--- /dev/null
+++ b/lerobot/marked_mugs/meta/subtasks.jsonl
@@ -0,0 +1,10 @@
+{"subtask_index": 0, "subtask": "look over the mugs and the colored pads"}
+{"subtask_index": 1, "subtask": "grasp a clear flat part of the mug handle and lift it"}
+{"subtask_index": 2, "subtask": "raise and gently tilt the loaded mug to inspect its underside"}
+{"subtask_index": 3, "subtask": "place the inspected mug on the blue pad with both original balls"}
+{"subtask_index": 4, "subtask": "place the inspected mug on the red pad with both original balls"}
+{"subtask_index": 5, "subtask": "place the inspected mug on the yellow pad with both original balls"}
+{"subtask_index": 6, "subtask": "move the arm clear of the pads"}
+{"subtask_index": 7, "subtask": "press Submit after inspecting and sorting every loaded mug"}
+{"subtask_index": 8, "subtask": "place the inspected mug on the green pad with both original balls"}
+{"subtask_index": 9, "subtask": "place the inspected mug on the purple pad with both original balls"}
diff --git a/lerobot/marked_mugs/meta/tasks.jsonl b/lerobot/marked_mugs/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55cb697b184127d5886e30ec977feaafcff6d865
--- /dev/null
+++ b/lerobot/marked_mugs/meta/tasks.jsonl
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+{"task_index": 0, "task": "There are mugs on the counters in this kitchen. Each one has a coloured label on its bottom. Put every one upright on the pad of the same colour, with its own two balls inside, 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 3 mugs on the counters in this kitchen. Each one has a coloured label on its bottom. Put every one upright on the pad of the same colour, with its own two balls inside, then press Submit. Other objects on the counter are not part of the task; you may move them if needed."}
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