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diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/asset_selection.json
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new file mode 100644
index 0000000000000000000000000000000000000000..d4051440539e4075124af9d344483eb3dd7b5aec
--- /dev/null
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@@ -0,0 +1,166 @@
+{
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+  "episode_id": "prepare_and_serve_meal_000167",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
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+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "default"
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+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000000/house_overview.png
new file mode 100644
index 0000000000000000000000000000000000000000..34eaad24ede89878d952ade524832b45afd2b4de
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\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/asset_selection.json
@@ -0,0 +1,7 @@
+{
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+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/base_layout.json
new file mode 100644
index 0000000000000000000000000000000000000000..8889e7f4667ca1ebed93b21cea0a58ecdfb63496
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/base_layout.json
@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 522227596,
+  "rooms": [
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+      "bounds": [
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+        -4.84,
+        5.540000000000001,
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+        5.540000000000001,
+        0.04000000000000048
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+      "center": [
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+        -2.3999999999999995
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+        4.880000000000001
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+          5.540000000000001,
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+          5.540000000000001,
+          0.04000000000000048
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+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
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+        5.540000000000001,
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+        -11.291612903225804,
+        5.540000000000001,
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+          5.540000000000001,
+          -4.84
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+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
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+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
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+      [
+        -0.04000000000000048,
+        -11.291612903225804
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+        -4.84
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+        0.04000000000000048
+      ],
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+        5.540000000000001,
+        0.04000000000000048
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+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "fc9209fe9be2468cdd47f9499ad2232a0aba1f20ae1f12b276020506fd9f0b84"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede7b205c65ed077e92036b29a96862a673d8b6e
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000168",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
+    "seed": 1964804762,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
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+        "dx": -0.024840700403380156,
+        "dy": 0.055185755190805125
+      }
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+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1964804762,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "closed_direct"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "8ab9bdeede753ff54531b52dae8a9d2050b3eedbbab15c9888a6036a8a94a4e4",
+  "room_route": "closed_direct",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20291,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
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+              -0.1,
+              0.1
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+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "closed_direct",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": -2.0382987585668575,
+      "scene.furniture.dining_set.dx": -0.024840700403380156,
+      "scene.furniture.dining_set.dy": 0.055185755190805125
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+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20291,
+    "attempt_index": 168,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "closed_direct"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/house_overview.png
new file mode 100644
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--- /dev/null
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+oid sha256:3ce7e8e72f223fe80b549aa60087050eae49d4c06e4029a24958e0c195b5ea1f
+size 297718
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/skill_calls.json
new file mode 100644
index 0000000000000000000000000000000000000000..c818da58b84549a3b3a686e69a8b5a97e4eb1c84
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000001/skill_calls.json
@@ -0,0 +1,895 @@
+[
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+    "status": "completed",
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+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
+      "verified": true
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+        5.0,
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+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 14,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 310.2280000007532,
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+      "known_target": true,
+      "hand_state": true
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+        5.0,
+        15.0
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+      "status": "within_target"
+    }
+  },
+  {
+    "index": 15,
+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 323.96000000081875,
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+  },
+  {
+    "index": 16,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 368.8040000010329,
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+      "hand_state": true
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+      "status": "within_target"
+    }
+  },
+  {
+    "index": 17,
+    "skill": "pick",
+    "arguments": {
+      "target": "drink_bottle_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 374.56000000106036,
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+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 18,
+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 383.0300000011008,
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+      "known_target": true,
+      "hand_state": true
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+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 19,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 397.51000000116994,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
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+    "end_time": 402.26600000119265,
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+    "motion_timing": {
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+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 20,
+    "skill": "navigate",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 402.26600000119265,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
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+    "end_time": 416.00200000125824,
+    "wall_seconds": 25.464993007015437,
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+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 21,
+    "skill": "close_door",
+    "arguments": {
+      "target": "fridge"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 416.00200000125824,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 428.6060000013184,
+    "wall_seconds": 54.57300115795806,
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+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 22,
+    "skill": "wait",
+    "arguments": {
+      "duration_seconds": 30.0
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 428.6060000013184,
+    "preconditions": {
+      "ready": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 458.60600000146167,
+    "wall_seconds": 27.368982487823814,
+    "motion_timing": {
+      "simulated_seconds": 30.000000000143245,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "explicit_wait"
+    }
+  },
+  {
+    "index": 23,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 458.60600000146167,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 469.05600000151156,
+    "wall_seconds": 21.78518616198562,
+    "motion_timing": {
+      "simulated_seconds": 10.450000000049897,
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+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 24,
+    "skill": "push_button",
+    "arguments": {
+      "target": "microwave_stop"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 469.05600000151156,
+    "preconditions": {
+      "empty_hand": true,
+      "known_button": true
+    },
+    "postconditions": {
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+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 25,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 477.738000001553,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
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+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 26,
+    "skill": "open_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 487.4760000015995,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 526.9600000013628,
+    "wall_seconds": 150.76178984506987,
+    "motion_timing": {
+      "simulated_seconds": 39.483999999763284,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 27,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 526.9600000013628,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 533.5840000012062,
+    "wall_seconds": 18.456000813050196,
+    "motion_timing": {
+      "simulated_seconds": 6.623999999843363,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "pick",
+    "arguments": {
+      "target": "food_container_01"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 533.5840000012062,
+    "preconditions": {
+      "known_target": true,
+      "empty_hand": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 541.1260000010278,
+    "wall_seconds": 114.22313904389739,
+    "motion_timing": {
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+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 29,
+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 541.1260000010278,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 557.5080000006404,
+    "wall_seconds": 31.981518597807735,
+    "motion_timing": {
+      "simulated_seconds": 16.381999999612617,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 30,
+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 557.5080000006404,
+    "preconditions": {
+      "object_held": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 560.3420000005734,
+    "wall_seconds": 27.526334930909798,
+    "motion_timing": {
+      "simulated_seconds": 2.833999999932985,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "faster_than_target"
+    }
+  },
+  {
+    "index": 31,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 560.3420000005734,
+    "preconditions": {
+      "known_target": true,
+      "hand_state": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 574.0380000002496,
+    "wall_seconds": 23.724566254997626,
+    "motion_timing": {
+      "simulated_seconds": 13.695999999676133,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 574.0380000002496,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
+      "verified": true
+    },
+    "end_time": 626.3799999990118,
+    "wall_seconds": 209.6265072838869,
+    "motion_timing": {
+      "simulated_seconds": 52.341999998762276,
+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/asset_selection.json
@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/base_layout.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddbadd6d21d94f59e3d43a606e795891267246c
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/base_layout.json
@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 2103802820,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
+      ],
+      "size": [
+        5.580000000000002,
+        4.880000000000001
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          5.540000000000001,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          0.04000000000000048
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "furnishing_bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
+        -4.84
+      ],
+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main",
+        "chair_3_seat_dining_room_main",
+        "chair_3_back_dining_room_main",
+        "chair_3_leg_0_dining_room_main",
+        "chair_3_leg_1_dining_room_main",
+        "chair_3_leg_2_dining_room_main",
+        "chair_3_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "81373a709402722fd6bb9ac821eb71490a8ee19773ec90dbdbfbb7193f4d5c76"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f10fe6d4210c9ca322cf21a7158a0f9f6c43f74
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000169",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
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+}
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+size 298004
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000002/skill_calls.json
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--- /dev/null
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+      "target": "microwave_stop"
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+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 551.438000000784,
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+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 572.6960000002813,
+    "preconditions": {
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\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/asset_selection.json
@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/base_layout.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,210 @@
+{
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+  "stage": "base_layout_before_task_variations",
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+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
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+        "dining"
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+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
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+  "parameters": {
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+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
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+  "source_scene_sha256": "ef995b74e71abcb4cca7fc7e43f317c7df96e1ea84cbe9218cc2f1cf006bd2d7"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..d246ec1c151c0ca1ff27844159d30946722ab15e
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000170",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
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+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
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+      "drink_bottle": 1
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+    "furniture": {
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+        "dy": -0.0970128269375516
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+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
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+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
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+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "e3efa419af3792b2f40363493fa64a56515cb7a37dde946e6529b3823739a091",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20293,
+      "count": 1,
+      "base_layout": {
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+        "rooms": [
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+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
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+      "controls": {
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+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
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+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
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+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": 3.846702982547459,
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+      "scene.furniture.dining_set.dy": -0.0970128269375516
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+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20293,
+    "attempt_index": 170,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "default"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/house_overview.png
new file mode 100644
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+size 309105
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/skill_calls.json
new file mode 100644
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--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000003/skill_calls.json
@@ -0,0 +1,787 @@
+[
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+    "status": "completed",
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+    "skill": "navigate",
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+      "destination": "dining_table"
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+    "status": "completed",
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+  },
+  {
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+    "skill": "place",
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+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
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+    }
+  },
+  {
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+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 472.29800000152704,
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+      ],
+      "status": "over_target"
+    }
+  },
+  {
+    "index": 28,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 505.4780000016855,
+    "preconditions": {
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+      "correct_fixture": true
+    },
+    "postconditions": {
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+    "end_time": 557.6660000006367,
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+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/asset_selection.json
@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/base_layout.json
new file mode 100644
index 0000000000000000000000000000000000000000..6927bb01ddfd38934573ca89b5f182c45c3064ff
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/base_layout.json
@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1234701233,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
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+        -4.84,
+        5.540000000000001,
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+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "flexible_furniture": true,
+      "center": [
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+        -2.3999999999999995
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+        4.880000000000001
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+          5.540000000000001,
+          -4.84
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+        [
+          5.540000000000001,
+          0.04000000000000048
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+          0.04000000000000048
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+          -4.84
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+      "floor_rectangles": [
+        [
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+          -4.84,
+          5.540000000000001,
+          0.04000000000000048
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+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
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+        2.75,
+        -8.065806451612902
+      ],
+      "size": [
+        5.580000000000002,
+        6.451612903225804
+      ],
+      "floor_polygon": [
+        [
+          5.540000000000001,
+          -11.291612903225804
+        ],
+        [
+          5.540000000000001,
+          -4.84
+        ],
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+          -0.04000000000000048,
+          -4.84
+        ],
+        [
+          -0.04000000000000048,
+          -11.291612903225804
+        ]
+      ],
+      "floor_rectangles": [
+        [
+          -0.04000000000000048,
+          -11.291612903225804,
+          5.540000000000001,
+          -4.84
+        ]
+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main",
+        "chair_3_seat_dining_room_main",
+        "chair_3_back_dining_room_main",
+        "chair_3_leg_0_dining_room_main",
+        "chair_3_leg_1_dining_room_main",
+        "chair_3_leg_2_dining_room_main",
+        "chair_3_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
+        -4.84
+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
+  ],
+  "footprint": {
+    "outline": [
+      [
+        5.540000000000001,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -11.291612903225804
+      ],
+      [
+        -0.04000000000000048,
+        -4.84
+      ],
+      [
+        -0.04000000000000048,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "a95ba445e4fa3d6fad228ed2966ffee7797c83a8219806d4f506c13050f5b4eb"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..472bf43a4592f25e0dc1d766bdae78bd9619aa9d
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000171",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 1328989047,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
+      "dining_set": {
+        "yaw_deg": -2.029666103873918,
+        "dx": 0.07990308927720532,
+        "dy": -0.002433199094842478
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1328989047,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "d377eaad00ed2f9e238a79a0480242e768d7969e7679646d7481bc7faf30b3e5",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20294,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": -2.029666103873918,
+      "scene.furniture.dining_set.dx": 0.07990308927720532,
+      "scene.furniture.dining_set.dy": -0.002433199094842478
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20294,
+    "attempt_index": 171,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "default"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/house_overview.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bea8d351c52084889b73493ccb679ca613eb65f
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/house_overview.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d449d19091003d0ef2d78581119c959191b0f67e09d54d9b3f87d0b7f2a1921
+size 307861
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/skill_calls.json
new file mode 100644
index 0000000000000000000000000000000000000000..49516e5daf6d3ff7ded4adcc6f21d72576eda649
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000004/skill_calls.json
@@ -0,0 +1,787 @@
+[
+  {
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+    "skill": "navigate",
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+    "status": "completed",
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+        15.0
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+    "skill": "open_door",
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+    "success": true,
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diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/asset_selection.json
@@ -0,0 +1,7 @@
+{
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+  "selected": {
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+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/base_layout.json
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+        "chair_0_leg_0_dining_room_main",
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+        "chair_0_leg_2_dining_room_main",
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diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..e456173abfda05944be1bf8e3cd407fead172359
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000172",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
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+      "loop_probability": 0.8,
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+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
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+    "microwave_controls",
+    "private_duration_tracking"
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+  "catalog_version": "fixed-atomic-v1",
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+  "dataset_role": "pilot_unassigned",
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+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
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+              5
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+              "cool_daylight"
+            ]
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+        },
+        "door_route": {
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+            "choices": [
+              "default",
+              "closed_direct"
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+      "randomize_controls": {
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+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "warm_home",
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+      "procedure": "heat_while_retrieving",
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+  "dataset_split": "train",
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+    "attempt_index": 172,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "closed_direct"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/house_overview.png
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new file mode 100644
index 0000000000000000000000000000000000000000..40c80d952f6905a8cc502d76e920bc66c1d0327d
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000005/skill_calls.json
@@ -0,0 +1,895 @@
+[
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+    }
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+  {
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+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 560.9700000005586,
+    "preconditions": {
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+      "hand_state": true
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+    "motion_timing": {
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+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 574.738000000233,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
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+      "verified": true
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+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/asset_selection.json
@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/base_layout.json
new file mode 100644
index 0000000000000000000000000000000000000000..20cdc135237b5bd594d5f497dea4fb2c728c1aa6
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/base_layout.json
@@ -0,0 +1,210 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1105828146,
+  "rooms": [
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+        4.880000000000001
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+      "furnishing_variant": "bed_along_east_wall",
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+      "floor_body": "floor_room_main",
+      "furniture": []
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+      "furnishing_variant": "bed_along_east_wall",
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+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main"
+      ]
+    }
+  ],
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+        "kitchen",
+        "dining"
+      ],
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+        -0.04000000000000048,
+        5.540000000000001
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+      "clear_width_m": 1.7,
+      "initial_state": "open"
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+        5.540000000000001,
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+        -4.84
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+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
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+  "parameters": {
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+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
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+  "source_scene_sha256": "834a5ee3258eb1a4ddfd390b167f51026a1847ce85fece516036771683dc8880"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b527ff9314446559928d2c3ba4d2fb6f849785
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000173",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
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+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
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+      "drink_bottle": 1
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+    "furniture": {
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+        "dx": 0.09904789373724643,
+        "dy": 0.06333389649763219
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+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
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+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
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+      "max_attempts": 100,
+      "loop_probability": 0.8,
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+      "route": "closed_direct"
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+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
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+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
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+  "room_route": "closed_direct",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20296,
+      "count": 1,
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+        "scene.asset_instance_set": "baseline"
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+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
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+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
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+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "closed_direct",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": 3.035641980657168,
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+  "dataset_split": "train",
+  "dataset_sampling": {
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+    "attempt_index": 173,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "closed_direct"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/house_overview.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ea62b6c0facfc47748651b4f55f7e966316f4b2ac61475399644e7d752104f9a
+size 297799
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/skill_calls.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bb08b6ec5c78e8fea7b3edeaa4666ae9e155bfe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000006/skill_calls.json
@@ -0,0 +1,895 @@
+[
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+    },
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+      "target": "microwave"
+    },
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+    "status": "completed",
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+    "skill": "navigate",
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+    },
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+    "status": "completed",
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+    "skill": "pick",
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+    "success": true,
+    "status": "completed",
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+  },
+  {
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+    "skill": "navigate",
+    "arguments": {
+      "target": "food_container_01",
+      "destination": "dining_table"
+    },
+    "success": true,
+    "status": "completed",
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+      ],
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+    }
+  },
+  {
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+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 585.773999999972,
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+      "status": "over_target"
+    }
+  },
+  {
+    "index": 31,
+    "skill": "navigate",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 607.721999999453,
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+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "within_target"
+    }
+  },
+  {
+    "index": 32,
+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 621.7659999991209,
+    "preconditions": {
+      "empty_hand": true,
+      "correct_fixture": true
+    },
+    "postconditions": {
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+    },
+    "end_time": 674.1379999978825,
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+      "target_seconds": [
+        5.0,
+        15.0
+      ],
+      "status": "over_target"
+    }
+  }
+]
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/asset_selection.json
@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/base_layout.json
new file mode 100644
index 0000000000000000000000000000000000000000..3514754f40d3ffd71d83fa67e22fab7b12d3bb36
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/base_layout.json
@@ -0,0 +1,204 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 473100111,
+  "rooms": [
+    {
+      "name": "kitchen",
+      "room_type": "kitchen",
+      "bounds": [
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+        0.04000000000000048
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+        -4.84,
+        5.540000000000001,
+        0.04000000000000048
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+      "flexible_furniture": true,
+      "center": [
+        2.75,
+        -2.3999999999999995
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+      "size": [
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+        4.880000000000001
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+      "floor_polygon": [
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+          5.540000000000001,
+          -4.84
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+        [
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+          -4.84
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+      "floor_rectangles": [
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+          5.540000000000001,
+          0.04000000000000048
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+      ],
+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_room_main",
+      "furniture": []
+    },
+    {
+      "name": "dining",
+      "room_type": "dining",
+      "bounds": [
+        -0.04000000000000048,
+        -11.291612903225804,
+        5.540000000000001,
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+      "furnishing_bounds": [
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+      "size": [
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+      "structural_returns": [],
+      "shape": "rectangle",
+      "furnishing_variant": "bed_along_east_wall",
+      "furnishing_rotation_quarters": 0,
+      "floor_body": "floor_dining_room_main",
+      "furniture": [
+        "dining_table_dining_room_main",
+        "table_leg_0_dining_room_main",
+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main"
+      ]
+    }
+  ],
+  "connections": [
+    {
+      "rooms": [
+        "kitchen",
+        "dining"
+      ],
+      "wall": [
+        1,
+        -4.84,
+        -0.04000000000000048,
+        5.540000000000001
+      ],
+      "center": [
+        3.029000000000001,
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+      ],
+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
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+  ],
+  "footprint": {
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+        -11.291612903225804
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+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        0.04000000000000048
+      ],
+      [
+        5.540000000000001,
+        -4.84
+      ]
+    ],
+    "corner_count": 6,
+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
+    ]
+  ],
+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
+  },
+  "furniture_instance_seed": null,
+  "source_scene_sha256": "6fb4e3acaf0ee3d35b70b393f386b1d6a1cd7c640ec6c45142329311383c0666"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f98088d59a562604ee8e44eeba263f975a80cd2
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000174",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "heat_while_retrieving",
+  "scene": {
+    "seed": 410591645,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
+    },
+    "asset_instance_set": "baseline",
+    "furniture": {
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+        "yaw_deg": -1.8795902139982101,
+        "dx": 0.05816120795509139,
+        "dy": 0.09390054277613433
+      }
+    },
+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 410591645,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "9f1f2810b5724177ce403d36a2357ffa8e47586afb7706369a6aee8d9b51465b",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20297,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
+          2,
+          2
+        ],
+        "max_attempts": 100,
+        "loop_probability": 0.8
+      },
+      "fixed": {
+        "scene.people": 2,
+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
+        "furniture_translation": {
+          "scene.furniture.dining_set.dx": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          },
+          "scene.furniture.dining_set.dy": {
+            "uniform": [
+              -0.1,
+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "heat_while_retrieving",
+      "scene.furniture.dining_set.yaw_deg": -1.8795902139982101,
+      "scene.furniture.dining_set.dx": 0.05816120795509139,
+      "scene.furniture.dining_set.dy": 0.09390054277613433
+    }
+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20297,
+    "attempt_index": 174,
+    "procedure_schedule": "heat_while_retrieving",
+    "route_schedule": "default"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/house_overview.png
new file mode 100644
index 0000000000000000000000000000000000000000..15de975fe392457e7b969581795b43fa13deaaf4
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/house_overview.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da64e9f9c58451068a720adf6a9f4fedd3ed34c35ccfb3bf9e79e4e6362f0c69
+size 308761
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/skill_calls.json
new file mode 100644
index 0000000000000000000000000000000000000000..63aa3e9e7461392e55026a68b40fe8f42796d3bd
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000007/skill_calls.json
@@ -0,0 +1,787 @@
+[
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+        15.0
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+    "status": "completed",
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+      "destination": "dining_table"
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+    "status": "completed",
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+        15.0
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+    }
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+    "skill": "place",
+    "arguments": {
+      "receptacle": "dining_table",
+      "region": "default"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 413.8360000012479,
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+  {
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+    "skill": "close_door",
+    "arguments": {
+      "target": "microwave"
+    },
+    "success": true,
+    "status": "completed",
+    "start_time": 434.596000001347,
+    "preconditions": {
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+      "correct_fixture": true
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+    }
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+]
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/asset_selection.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/asset_selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b13aea31edb026625617d89c24ea33d030b8fe
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/asset_selection.json
@@ -0,0 +1,7 @@
+{
+  "unavailable": [],
+  "selected": {
+    "food_container_01": "robocasa__lightwheel__tupperware__Tupperware039",
+    "drink_bottle_01": "robocasa__lightwheel__juice__Juice006"
+  }
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/base_layout.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/base_layout.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bdb94d208baf00b4ac58abe0aea1f055071b52
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/base_layout.json
@@ -0,0 +1,216 @@
+{
+  "schema_version": 5,
+  "sampler": "two_room_training_profile",
+  "stage": "base_layout_before_task_variations",
+  "seed": 1179561385,
+  "rooms": [
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+      "floor_body": "floor_room_main",
+      "furniture": []
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+        "dining_table_dining_room_main",
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+        "table_leg_1_dining_room_main",
+        "table_leg_2_dining_room_main",
+        "table_leg_3_dining_room_main",
+        "chair_0_seat_dining_room_main",
+        "chair_0_back_dining_room_main",
+        "chair_0_leg_0_dining_room_main",
+        "chair_0_leg_1_dining_room_main",
+        "chair_0_leg_2_dining_room_main",
+        "chair_0_leg_3_dining_room_main",
+        "chair_1_seat_dining_room_main",
+        "chair_1_back_dining_room_main",
+        "chair_1_leg_0_dining_room_main",
+        "chair_1_leg_1_dining_room_main",
+        "chair_1_leg_2_dining_room_main",
+        "chair_1_leg_3_dining_room_main",
+        "chair_2_seat_dining_room_main",
+        "chair_2_back_dining_room_main",
+        "chair_2_leg_0_dining_room_main",
+        "chair_2_leg_1_dining_room_main",
+        "chair_2_leg_2_dining_room_main",
+        "chair_2_leg_3_dining_room_main",
+        "chair_3_seat_dining_room_main",
+        "chair_3_back_dining_room_main",
+        "chair_3_leg_0_dining_room_main",
+        "chair_3_leg_1_dining_room_main",
+        "chair_3_leg_2_dining_room_main",
+        "chair_3_leg_3_dining_room_main"
+      ]
+    }
+  ],
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+        "dining"
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+      "door": "room_door_0",
+      "clear_width_m": 1.7,
+      "initial_state": "open"
+    }
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+    "bounding_box_fill_ratio": 1.0
+  },
+  "kitchen_dining_paths": [
+    [
+      "kitchen",
+      "dining"
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+  "parameters": {
+    "room_count": 2,
+    "room_area": 36.0,
+    "bedroom_requirement": "explicit two-room profile exception"
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+  "source_scene_sha256": "8bdba6293bcaebc8414f332ae19b71bccb4f17b73d8db5a420c5ca65fede0060"
+}
\ No newline at end of file
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/config.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c9872c217808e893261b8cbf10bb619579ed3d
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/config.json
@@ -0,0 +1,166 @@
+{
+  "schema_version": 1,
+  "episode_id": "prepare_and_serve_meal_000175",
+  "task": "prepare_and_serve_meal",
+  "variant": "sampled",
+  "instruction": "Run the microwave with the food container inside for at least 30 seconds. Bring it, the cold drink from the fridge to the dining table. Leave the microwave off and both appliance doors closed. Finish with an empty gripper.",
+  "procedure": "retrieve_before_heating",
+  "scene": {
+    "seed": 1080694684,
+    "kitchen_layout": 1,
+    "kitchen_style": 1,
+    "people": 2,
+    "object_counts": {
+      "food_container": 1,
+      "drink_bottle": 1
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+    "asset_instance_set": "baseline",
+    "furniture": {
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+        "dx": 0.020080689452429176,
+        "dy": 0.00792295010405289
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+    "forbidden_object_categories": [
+      "plate",
+      "flat_object"
+    ],
+    "minimum_heating_seconds": 30.0,
+    "appearance": {
+      "preset": "cool_daylight"
+    },
+    "base_layout": {
+      "profile": "two_rooms",
+      "seed": 1080694684,
+      "room_count": 2,
+      "max_attempts": 100,
+      "loop_probability": 0.8,
+      "room_area": 36.0,
+      "route": "default"
+    }
+  },
+  "goal_keys": [
+    "food_heated_long_enough",
+    "all_meal_items_served",
+    "microwave_off",
+    "microwave_closed",
+    "fridge_closed",
+    "empty_hand"
+  ],
+  "requirements": [
+    "multi_object_transfer",
+    "fridge_retrieval",
+    "microwave_loading",
+    "microwave_controls",
+    "private_duration_tracking"
+  ],
+  "catalog_version": "fixed-atomic-v1",
+  "video_speedup": 1.0,
+  "dataset_role": "pilot_unassigned",
+  "motion": {
+    "optimize_motion_components": true,
+    "smooth_action": true,
+    "record_action_replay": true
+  },
+  "initial_state_policy": "deterministic_setup_from_scene_config",
+  "validation_status": "not_executed",
+  "scene_spec_sha256": "421fcb4fbba568b13653b57729874294bae0f8f90e39c05207537b5f7300909e",
+  "room_route": "default",
+  "sampling": {
+    "source": "/nobackup/le/cross-episode-robotics-sim/configs/dataset_splits/train/prepare_and_serve_meal.yaml",
+    "specification": {
+      "task": "prepare_and_serve_meal",
+      "seed": 20298,
+      "count": 1,
+      "base_layout": {
+        "profile": "two_rooms",
+        "rooms": [
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+          2
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+        "loop_probability": 0.8
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+      "fixed": {
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+        "scene.kitchen_layout": 1,
+        "scene.asset_instance_set": "baseline"
+      },
+      "controls": {
+        "execution_order": {
+          "procedure": {
+            "choices": [
+              "heat_while_retrieving",
+              "retrieve_before_heating"
+            ]
+          }
+        },
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+              0.1
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+          "scene.furniture.dining_set.dy": {
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+              0.1
+            ]
+          }
+        },
+        "furniture_rotation": {
+          "scene.furniture.dining_set.yaw_deg": {
+            "uniform": [
+              -5,
+              5
+            ]
+          }
+        },
+        "appearance_theme": {
+          "scene.appearance.preset": {
+            "choices": [
+              "warm_home",
+              "cool_daylight"
+            ]
+          }
+        },
+        "door_route": {
+          "room_route": {
+            "choices": [
+              "default",
+              "closed_direct"
+            ]
+          }
+        }
+      },
+      "randomize_controls": {
+        "min_active": 5,
+        "max_active": 5
+      }
+    },
+    "active_controls": [
+      "appearance_theme",
+      "door_route",
+      "execution_order",
+      "furniture_rotation",
+      "furniture_translation"
+    ],
+    "sampled": {
+      "scene.appearance.preset": "cool_daylight",
+      "room_route": "default",
+      "procedure": "retrieve_before_heating",
+      "scene.furniture.dining_set.yaw_deg": 2.4128080061974444,
+      "scene.furniture.dining_set.dx": 0.020080689452429176,
+      "scene.furniture.dining_set.dy": 0.00792295010405289
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+  },
+  "dataset_split": "train",
+  "dataset_sampling": {
+    "master_seed": 20298,
+    "attempt_index": 175,
+    "procedure_schedule": "retrieve_before_heating",
+    "route_schedule": "default"
+  }
+}
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/house_overview.png b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/house_overview.png
new file mode 100644
index 0000000000000000000000000000000000000000..64f54aa8fa5820ae76606167dcddd774109b9174
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e62c0dfd987ef1d7d672d597e2177b8dfeb2b967194510964ca803bf0f260541
+size 308274
diff --git a/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/skill_calls.json b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/skill_calls.json
new file mode 100644
index 0000000000000000000000000000000000000000..607f6b8e159bd3ce13a8b27e9b711c0930946cff
--- /dev/null
+++ b/lerobot/prepare_and_serve_meal/fine_tuning/supplementary/episode_000008/skill_calls.json
@@ -0,0 +1,787 @@
+[
+  {
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+    "skill": "navigate",
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+    "status": "completed",
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+  {
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+    "skill": "open_door",
+    "arguments": {
+      "target": "fridge"
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+    "success": true,
+    "status": "completed",
+    "start_time": 8.899999999999642,
+    "preconditions": {
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+  {
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+    "skill": "navigate",
+    "arguments": {
+      "target": "drink_bottle_01"
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+    "success": true,
+    "status": "completed",
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+    "skill": "pick",
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+    "success": true,
+    "status": "completed",
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