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+{"episode_index": 308, "tasks": ["Pick up the red apple and place it on the plate"], "length": 79}
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diff --git a/g1-pick-apple/meta/info.json b/g1-pick-apple/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd1ad1248b12579083baa76556d03cfff2ee3f3
--- /dev/null
+++ b/g1-pick-apple/meta/info.json
@@ -0,0 +1,189 @@
+{
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+    "robot_type": null,
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+    "total_frames": 29864,
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+    "total_videos": 129,
+    "total_chunks": 1,
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+    "fps": 20,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                "right_shoulder_yaw_joint",
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+        "episode_index": {
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+        98
+    ]
+}
\ No newline at end of file
diff --git a/g1-pick-apple/meta/modality.json b/g1-pick-apple/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e9a1e0e7b394256eda17e673d33fb3b9e0ddc
--- /dev/null
+++ b/g1-pick-apple/meta/modality.json
@@ -0,0 +1,72 @@
+{
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+    "annotation": {
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+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/g1-pick-apple/meta/stats.json b/g1-pick-apple/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..70b32fa4b77842129ac22a45eef1bfbab7e4ba95
--- /dev/null
+++ b/g1-pick-apple/meta/stats.json
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diff --git a/g1-pick-grapes/meta/info.json b/g1-pick-grapes/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab62303b562ab59bb4c34f7914feaf86473e17d7
--- /dev/null
+++ b/g1-pick-grapes/meta/info.json
@@ -0,0 +1,198 @@
+{
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+}
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diff --git a/g1-pick-grapes/meta/modality.json b/g1-pick-grapes/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e9a1e0e7b394256eda17e673d33fb3b9e0ddc
--- /dev/null
+++ b/g1-pick-grapes/meta/modality.json
@@ -0,0 +1,72 @@
+{
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+            "end": 6
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+            "end": 15
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+            "end": 22
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+            "end": 22
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+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/g1-pick-grapes/meta/stats.json b/g1-pick-grapes/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6fd66eff87df376bd24fb67f79a2d2639e873e
--- /dev/null
+++ b/g1-pick-grapes/meta/stats.json
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+{
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diff --git a/g1-pick-grapes/meta/tasks.jsonl b/g1-pick-grapes/meta/tasks.jsonl
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+{"task_index": 2, "task": "Pick up the green grapes and place it on the plate"}
+{"task_index": 3, "task": "Pick up the yellow starfruit and place it on the plate"}
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diff --git a/g1-pick-pear/meta/info.json b/g1-pick-pear/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9d2c6345a25fb42430b89f0829814e0a63522b
--- /dev/null
+++ b/g1-pick-pear/meta/info.json
@@ -0,0 +1,185 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 264,
+    "total_frames": 32319,
+    "total_tasks": 1,
+    "total_videos": 127,
+    "total_chunks": 1,
+    "chunks_size": 264,
+    "fps": 20,
+    "splits": {
+        "train": "0:264"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/g1-pick-pear/meta/modality.json b/g1-pick-pear/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e9a1e0e7b394256eda17e673d33fb3b9e0ddc
--- /dev/null
+++ b/g1-pick-pear/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        }
+    },
+    "video": {
+        "rs_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/g1-pick-pear/meta/stats.json b/g1-pick-pear/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..588ccad9e1a112a0fa51e77559da63b4e0596bbd
--- /dev/null
+++ b/g1-pick-pear/meta/stats.json
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diff --git a/g1-pick-starfruit/meta/info.json b/g1-pick-starfruit/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d142ea2876ec63b632665ce1c1c58055949a8ee
--- /dev/null
+++ b/g1-pick-starfruit/meta/info.json
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+{
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+}
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diff --git a/g1-pick-starfruit/meta/modality.json b/g1-pick-starfruit/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e9a1e0e7b394256eda17e673d33fb3b9e0ddc
--- /dev/null
+++ b/g1-pick-starfruit/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "state": {
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+            "end": 6
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+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/g1-pick-starfruit/meta/stats.json b/g1-pick-starfruit/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ad79f74988ccbfedc629a382e12a26b5b0400bc
--- /dev/null
+++ b/g1-pick-starfruit/meta/stats.json
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diff --git a/g1-pick-starfruit/meta/tasks.jsonl b/g1-pick-starfruit/meta/tasks.jsonl
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