diff --git a/.gitattributes b/.gitattributes
index 55cab133643a2a73e083373d2106533678d0edd5..2150df5e7d158cb8204f16ff033d824b42d7642d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -56,3 +56,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+videos/*.mp4 filter=lfs diff=lfs merge=lfs -text
+train/data-00000-of-00001.arrow filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
index 3040a87495d6216a822a368166eebeeec48ba41b..7640095943b5c3faf5fa3b338ba80a08806a209c 100644
--- a/README.md
+++ b/README.md
@@ -1,130 +1,2 @@
 This dataset was collected using the Unitree G1 humanoid robot equipped with a three-finger dexterous hand and contains data on placing cameras into their corresponding packaging boxes. Three cameras were used: a stereoscopic camera on the head and RealSense D405 cameras on the left and right wrists. The cameras are securely mounted on the head and wrists with a special structure; for the 3D print models and mounting instructions, please refer to the [official documentation](https://github.com/unitreerobotics/avp_teleoperate/tree/g1). Each image has a resolution of 640x480.
-
-The data is saved in JSON format, with specific meanings as follows: in "colors," color_0, color_1, color_2, and color_3 represent images from the left and right cameras of the stereoscopic camera on the head, and the left and right wrist cameras, respectively. "States" stores the current state of the robot, with 7-dimensional vectors for the left arm (left_arm), right arm (right_arm), left hand (left_hand), and right hand (right_hand). "Actions" contains the next action corresponding to the current robot state, with 7-dimensional vectors for the left arm (left_arm), right arm (right_arm), left hand (left_hand), and right hand (right_hand).
-
-{
-            "idx": 0,
-            "colors": {
-                "color_0": "colors/000000_color_0.jpg",
-                "color_1": "colors/000000_color_1.jpg",
-                "color_2": "colors/000000_color_2.jpg",
-                "color_3": "colors/000000_color_3.jpg"
-            },
-            "depths": {
-                "depth_0": null
-            },
-            "states": {
-                "left_arm": {
-                    "qpos": [
-                        -0.1375260353088379,
-                        0.2206883430480957,
-                        0.10265254974365234,
-                        -0.06499433517456055,
-                        0.09274798631668091,
-                        -0.09046751260757446,
-                        -0.029282808303833008
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "right_arm": {
-                    "qpos": [
-                        -0.3259902000427246,
-                        -0.2391195297241211,
-                        0.01526021957397461,
-                        -0.06318473815917969,
-                        -0.11658477783203125,
-                        0.23191407322883606,
-                        0.18720626831054688
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "left_hand": {
-                    "qpos": [
-                        -0.7578848600387573,
-                        1.0410269498825073,
-                        0.3606928586959839,
-                        0.08179116249084473,
-                        -0.05276632681488991,
-                        0.1016264483332634,
-                        -0.05552492290735245
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "right_hand": {
-                    "qpos": [
-                        -0.7547555565834045,
-                        -1.0320425033569336,
-                        -0.37585189938545227,
-                        0.0769619271159172,
-                        0.06601113080978394,
-                        0.07180488109588623,
-                        0.06099598482251167
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "body": null
-            },
-            "actions": {
-                "left_arm": {
-                    "qpos": [
-                        -0.13025461847171324,
-                        0.21661541373812673,
-                        0.1046056316185501,
-                        -0.08271734741555029,
-                        0.08518622141452012,
-                        -0.1030341442196604,
-                        -0.030171213982147997
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "right_arm": {
-                    "qpos": [
-                        -0.31987801987771125,
-                        -0.2404535639411038,
-                        0.013828376365623864,
-                        -0.09572603288956108,
-                        -0.10884103404511275,
-                        0.24179075066234468,
-                        0.18863734436150825
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "left_hand": {
-                    "qpos": [
-                        -0.7321911605264433,
-                        1.047197580337524,
-                        0.3647858555055452,
-                        0.09084276998877193,
-                        -0.054689204714162366,
-                        0.11392166280949342,
-                        -0.05528988650338419
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "right_hand": {
-                    "qpos": [
-                        -0.8060676717013592,
-                        -1.047197580337524,
-                        -0.38412477230537806,
-                        0.05396886718490038,
-                        0.05328394295995885,
-                        0.06713932822291543,
-                        0.05280982663611267
-                    ],
-                    "qvel": [],
-                    "torque": []
-                },
-                "body": null
-            },
-            "tactiles": null,
-            "audios": {
-                "mic0": null
-            }
-        }
+Each arm and dexterous hand has a state and action dimension of 7.
diff --git a/meta_data/episode_data_index.safetensors b/meta_data/episode_data_index.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..d55c04cb7af77c9a6b9a7e50e7c8b9fa2751c182
--- /dev/null
+++ b/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659bfb554d574a68ea59c24e9e9ef5442e5219cf2ef1a2f8b0b855aad6272c5b
+size 2536
diff --git a/meta_data/info.json b/meta_data/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea43c6775b4c8cabfdf18af6ae81464932f5578
--- /dev/null
+++ b/meta_data/info.json
@@ -0,0 +1,11 @@
+{
+    "codebase_version": "v1.6",
+    "fps": 30,
+    "video": 1,
+    "encoding": {
+        "vcodec": "libsvtav1",
+        "pix_fmt": "yuv420p",
+        "g": 2,
+        "crf": 30
+    }
+}
\ No newline at end of file
diff --git a/meta_data/stats.safetensors b/meta_data/stats.safetensors
new file mode 100644
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diff --git a/train/data-00000-of-00001.arrow b/train/data-00000-of-00001.arrow
new file mode 100644
index 0000000000000000000000000000000000000000..92737411109fe41c0d02e1184ac8a6e4b5621a97
--- /dev/null
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diff --git a/train/dataset_info.json b/train/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8dc3ef9191859f0f368637ef8747ed8ed79815
--- /dev/null
+++ b/train/dataset_info.json
@@ -0,0 +1,56 @@
+{
+  "citation": "",
+  "description": "",
+  "features": {
+    "observation.images.left_top": {
+      "_type": "VideoFrame"
+    },
+    "observation.images.right_top": {
+      "_type": "VideoFrame"
+    },
+    "observation.images.left_wrist": {
+      "_type": "VideoFrame"
+    },
+    "observation.images.right_wrist": {
+      "_type": "VideoFrame"
+    },
+    "observation.state": {
+      "feature": {
+        "dtype": "float32",
+        "_type": "Value"
+      },
+      "length": 28,
+      "_type": "Sequence"
+    },
+    "action": {
+      "feature": {
+        "dtype": "float32",
+        "_type": "Value"
+      },
+      "length": 28,
+      "_type": "Sequence"
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "_type": "Value"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "_type": "Value"
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "_type": "Value"
+    },
+    "next.done": {
+      "dtype": "bool",
+      "_type": "Value"
+    },
+    "index": {
+      "dtype": "int64",
+      "_type": "Value"
+    }
+  },
+  "homepage": "",
+  "license": ""
+}
\ No newline at end of file
diff --git a/train/state.json b/train/state.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f672cd51f8244f58b853c770a81220fd3d3226
--- /dev/null
+++ b/train/state.json
@@ -0,0 +1,13 @@
+{
+  "_data_files": [
+    {
+      "filename": "data-00000-of-00001.arrow"
+    }
+  ],
+  "_fingerprint": "4a577e130d30e2a9",
+  "_format_columns": null,
+  "_format_kwargs": {},
+  "_format_type": null,
+  "_output_all_columns": false,
+  "_split": null
+}
\ No newline at end of file
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new file mode 100644
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