diff --git a/simple_pnp/task3/meta/episodes.jsonl b/simple_pnp/task3/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3425f36df5217bd4cf943b1801f2d79833e7185
--- /dev/null
+++ b/simple_pnp/task3/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Take the bar of soap off the bathtub edge and place it in the soap dish."], "length": 400}
+{"episode_index": 1, "tasks": ["Lift the soap bar from the bathtub edge and set it into the soap dish."], "length": 386}
+{"episode_index": 2, "tasks": ["Pick up the bar of soap from the bathtub edge and place it into the soap dish."], "length": 397}
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diff --git a/simple_pnp/task3/meta/episodes_stats.jsonl b/simple_pnp/task3/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af5bba2e9ce91fac5aba7b4a789c57e22cbaf9e9
--- /dev/null
+++ b/simple_pnp/task3/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task3/meta/info.json b/simple_pnp/task3/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d45930687c3284c6a837d80c1ce19dd3b05ff7
--- /dev/null
+++ b/simple_pnp/task3/meta/info.json
@@ -0,0 +1,350 @@
+{
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+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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/simple_pnp/task3/meta/modality.json b/simple_pnp/task3/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task3/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task3/meta/tasks.jsonl b/simple_pnp/task3/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84fbc7cf198ab502def3b930c03fde54b3e9808e
--- /dev/null
+++ b/simple_pnp/task3/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Take the bar of soap off the bathtub edge and place it in the soap dish."}
+{"task_index": 1, "task": "Lift the soap bar from the bathtub edge and set it into the soap dish."}
+{"task_index": 2, "task": "Pick up the bar of soap from the bathtub edge and place it into the soap dish."}
+{"task_index": 3, "task": "Pick up the bar of soap from the bathtub edge and put it in the soap dish."}
+{"task_index": 4, "task": "Move the soap bar from the bathtub edge to the soap dish."}
diff --git a/simple_pnp/task8/meta/episodes.jsonl b/simple_pnp/task8/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b0e6fffc8c976b71c1a03cab9dce91975396763
--- /dev/null
+++ b/simple_pnp/task8/meta/episodes.jsonl
@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 1, "tasks": ["Lift the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 2, "tasks": ["Take the apple off the shelf and bring it out."], "length": 324}
+{"episode_index": 3, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 324}
+{"episode_index": 4, "tasks": ["Remove the apple from the shelf."], "length": 324}
+{"episode_index": 5, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 6, "tasks": ["Lift the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 7, "tasks": ["Take the apple off the shelf and bring it out."], "length": 324}
+{"episode_index": 8, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 324}
+{"episode_index": 9, "tasks": ["Remove the apple from the shelf."], "length": 324}
+{"episode_index": 10, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 11, "tasks": ["Lift the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 12, "tasks": ["Take the apple off the shelf and bring it out."], "length": 324}
+{"episode_index": 13, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 324}
+{"episode_index": 14, "tasks": ["Remove the apple from the shelf."], "length": 324}
+{"episode_index": 15, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 16, "tasks": ["Lift the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 17, "tasks": ["Take the apple off the shelf and bring it out."], "length": 330}
+{"episode_index": 18, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 330}
+{"episode_index": 19, "tasks": ["Remove the apple from the shelf."], "length": 330}
+{"episode_index": 20, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 21, "tasks": ["Lift the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 22, "tasks": ["Take the apple off the shelf and bring it out."], "length": 330}
+{"episode_index": 23, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 330}
+{"episode_index": 24, "tasks": ["Remove the apple from the shelf."], "length": 330}
+{"episode_index": 25, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 26, "tasks": ["Lift the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 27, "tasks": ["Take the apple off the shelf and bring it out."], "length": 330}
+{"episode_index": 28, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 330}
+{"episode_index": 29, "tasks": ["Remove the apple from the shelf."], "length": 330}
+{"episode_index": 30, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 31, "tasks": ["Lift the apple from the shelf and take it out."], "length": 330}
+{"episode_index": 32, "tasks": ["Take the apple off the shelf and bring it out."], "length": 330}
+{"episode_index": 33, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 330}
+{"episode_index": 34, "tasks": ["Remove the apple from the shelf."], "length": 330}
+{"episode_index": 35, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 36, "tasks": ["Lift the apple from the shelf and take it out."], "length": 324}
+{"episode_index": 37, "tasks": ["Take the apple off the shelf and bring it out."], "length": 324}
+{"episode_index": 38, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 324}
+{"episode_index": 39, "tasks": ["Remove the apple from the shelf."], "length": 324}
+{"episode_index": 40, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 319}
+{"episode_index": 41, "tasks": ["Lift the apple from the shelf and take it out."], "length": 319}
+{"episode_index": 42, "tasks": ["Take the apple off the shelf and bring it out."], "length": 319}
+{"episode_index": 43, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 319}
+{"episode_index": 44, "tasks": ["Remove the apple from the shelf."], "length": 319}
+{"episode_index": 45, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 319}
+{"episode_index": 46, "tasks": ["Lift the apple from the shelf and take it out."], "length": 319}
+{"episode_index": 47, "tasks": ["Take the apple off the shelf and bring it out."], "length": 319}
+{"episode_index": 48, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 319}
+{"episode_index": 49, "tasks": ["Remove the apple from the shelf."], "length": 319}
+{"episode_index": 50, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 319}
+{"episode_index": 51, "tasks": ["Lift the apple from the shelf and take it out."], "length": 319}
+{"episode_index": 52, "tasks": ["Take the apple off the shelf and bring it out."], "length": 319}
+{"episode_index": 53, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 319}
+{"episode_index": 54, "tasks": ["Remove the apple from the shelf."], "length": 319}
+{"episode_index": 55, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 321}
+{"episode_index": 56, "tasks": ["Lift the apple from the shelf and take it out."], "length": 321}
+{"episode_index": 57, "tasks": ["Take the apple off the shelf and bring it out."], "length": 321}
+{"episode_index": 58, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 321}
+{"episode_index": 59, "tasks": ["Remove the apple from the shelf."], "length": 321}
+{"episode_index": 60, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 321}
+{"episode_index": 61, "tasks": ["Lift the apple from the shelf and take it out."], "length": 321}
+{"episode_index": 62, "tasks": ["Take the apple off the shelf and bring it out."], "length": 321}
+{"episode_index": 63, "tasks": ["Grab the apple on the shelf and pull it out."], "length": 321}
+{"episode_index": 64, "tasks": ["Remove the apple from the shelf."], "length": 321}
+{"episode_index": 65, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 321}
+{"episode_index": 66, "tasks": ["Lift the apple from the shelf and take it out."], "length": 321}
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+{"episode_index": 79, "tasks": ["Remove the apple from the shelf."], "length": 319}
+{"episode_index": 80, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 337}
+{"episode_index": 81, "tasks": ["Lift the apple from the shelf and take it out."], "length": 337}
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+{"episode_index": 89, "tasks": ["Remove the apple from the shelf."], "length": 337}
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+{"episode_index": 96, "tasks": ["Lift the apple from the shelf and take it out."], "length": 340}
+{"episode_index": 97, "tasks": ["Take the apple off the shelf and bring it out."], "length": 340}
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+{"episode_index": 99, "tasks": ["Remove the apple from the shelf."], "length": 340}
+{"episode_index": 100, "tasks": ["Pick up the apple from the shelf and take it out."], "length": 340}
+{"episode_index": 101, "tasks": ["Lift the apple from the shelf and take it out."], "length": 340}
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+{"episode_index": 131, "tasks": ["Lift the apple from the shelf and take it out."], "length": 332}
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diff --git a/simple_pnp/task8/meta/episodes_stats.jsonl b/simple_pnp/task8/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67132285da3231508716dc9c705063a3af5346c3
--- /dev/null
+++ b/simple_pnp/task8/meta/episodes_stats.jsonl
@@ -0,0 +1,200 @@
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diff --git a/simple_pnp/task8/meta/modality.json b/simple_pnp/task8/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5510092c2dae369feedceff64309ca0e86818
--- /dev/null
+++ b/simple_pnp/task8/meta/modality.json
@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/simple_pnp/task8/meta/tasks.jsonl b/simple_pnp/task8/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81b07ea4e296e3662056be9855dc18729e70e1e3
--- /dev/null
+++ b/simple_pnp/task8/meta/tasks.jsonl
@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the apple from the shelf and take it out."}
+{"task_index": 1, "task": "Lift the apple from the shelf and take it out."}
+{"task_index": 2, "task": "Take the apple off the shelf and bring it out."}
+{"task_index": 3, "task": "Grab the apple on the shelf and pull it out."}
+{"task_index": 4, "task": "Remove the apple from the shelf."}
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