diff --git a/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset b/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset
index 87a704d6..4d8a6bcb 100644
Binary files a/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset and b/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset differ
diff --git a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp
index 68c5746b..ebe16c93 100644
--- a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp
+++ b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp
@@ -243,7 +243,7 @@ bool ULuckyDataTransferSubsystem::WriteImageToDisk(const double Timestamp, const
 				);
 
 				// TODO This logs 1, it doesn't work?
-				UE_LOG(LogTemp, Warning, TEXT("Logged pixels: %d"), OutPixels.Num())
+				// UE_LOG(LogTemp, Warning, TEXT("Logged pixels: %d"), OutPixels.Num())
 
 				FImageWriteTask* ImageTask = new FImageWriteTask();
 
@@ -270,7 +270,7 @@ bool ULuckyDataTransferSubsystem::WriteImageToDisk(const double Timestamp, const
 				
 				UE_LOG(LogTemp, VeryVerbose, TEXT("FileName %s"), *Filename);
 
-				ImageTask->Format = EImageFormat::PNG;
+				ImageTask->Format = EImageFormat::JPEG;
 				ImageTask->Filename = Filename;
 				ImageTask->PixelData = MakeUnique<TImagePixelData<FColor>>(FIntPoint(Sensor->RenderTarget->GetSurfaceWidth(), Sensor->RenderTarget->GetSurfaceHeight()), TArray64<FColor>(OutPixels));
 				ImageTask->bOverwriteFile = true;
diff --git a/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp b/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp
index c5848e5a..41971e10 100644
--- a/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp
+++ b/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp
@@ -12,6 +12,7 @@
 #include "Dom/JsonObject.h"
 #include "Serialization/JsonWriter.h"
 #include "Serialization/JsonSerializer.h"
+#include "_Utils/FileUtils.h"
 
 UEpisodeSubSystem::UEpisodeSubSystem()
 {
@@ -57,9 +58,11 @@ void UEpisodeSubSystem::Tick(float DeltaTime)
 		if (DataTransfer) DataTransfer->WriteImageToDisk(CurrentRobot->PhysicsSceneProxy->GetMujocoData().time);
 		EpisodeFrames++;
 
-		if (bIsEpisodeCompleted && CapturedEpisodes <= EpisodesToCapture)
+		if (!bIsEpisodeCompleted) return;
+
+		EndEpisode();
+		if (CapturedEpisodes < EpisodesToCapture)
 		{
-			EndEpisode();
 			StartEpisode();
 		}
 		else
@@ -122,6 +125,7 @@ void UEpisodeSubSystem::StartTraining(const int32 EpisodesCountIn, FString BaseI
 void UEpisodeSubSystem::EndTraining()
 {
 	StopTicking();
+	CreateEpisodesStatsJsonFile();
 	// Create jsonl files
 }
 
@@ -138,9 +142,6 @@ void UEpisodeSubSystem::StartEpisode()
 		RobotTransform.GetLocation() + RobotTransform.GetRotation().GetForwardVector() * HardCodedRewardDistanceFromRobotPivot * (FMath::RandBool() ? 1 : -1)
 	};
 
-	// DrawDebugLine(this->GetWorld(), EpisodeRewardZone.GetLocation() + FVector::UpVector * 70, EpisodeRewardZone.GetLocation(), FColor::Red, true);
-	// DrawDebugLine(this->GetWorld(), RobotTransform.GetLocation() + FVector::UpVector * 70, RobotTransform.GetLocation(), FColor::Blue, true);
-
 	// Ask the bot to give a reachable location for the Training Object Transform
 	EpisodeObjectBaseTransform = CurrentRobot->RobotPilotComponent->GetReachableTransform();
 	
@@ -276,7 +277,7 @@ void UEpisodeSubSystem::CreateEpisodeStatJsonLine(const FTrainingEpisodeData& Tr
 	
 	// Serialize into FString 
 	FString Output;
-	const TSharedRef<TJsonWriter<>> Writer = TJsonWriterFactory<>::Create(&Output);
+	const TSharedRef< TJsonWriter< TCHAR, TCondensedJsonPrintPolicy<TCHAR> > > Writer =	TJsonWriterFactory< TCHAR, TCondensedJsonPrintPolicy<TCHAR> >::Create(&Output);
 	FJsonSerializer::Serialize(Root.ToSharedRef(), Writer);
 	EpisodeStatLines.Add(Output);
 }
@@ -294,7 +295,8 @@ void UEpisodeSubSystem::ConvertImagesToVideo()
 void UEpisodeSubSystem::CreateEpisodesStatsJsonFile()
 {
 	// TODO Do not use FJsonObject - simply concat the FStrings into a file
-	
+	UFileUtils::WriteJsonlFile(EpisodeStatLines, FPaths::ProjectSavedDir(), FString("episodes_stats"));
+
 	// Create a jsonl file and store in the correct directory
 	// concat TArray<FString> EpisodeStatLines into a single file
 	// https://huggingface.co/datasets/youliangtan/so100_strawberry_grape/blob/main/meta/episodes_stats.jsonl
diff --git a/Source/LuckyWorldV2/Private/_Utils/FileUtils.cpp b/Source/LuckyWorldV2/Private/_Utils/FileUtils.cpp
new file mode 100644
index 00000000..d4bb9b0b
--- /dev/null
+++ b/Source/LuckyWorldV2/Private/_Utils/FileUtils.cpp
@@ -0,0 +1,24 @@
+#include "_Utils/FileUtils.h"
+#include "Misc/FileHelper.h"
+#include "Misc/Paths.h"
+
+UFileUtils::UFileUtils()
+{
+}
+
+
+
+bool UFileUtils::WriteJsonlFile(const TArray<FString>& JsonLines, const FString& BasePath, const FString& FileName)
+{
+	// Ensure the directory exists
+	IFileManager::Get().MakeDirectory(*BasePath, true);
+
+	// Construct the full file path
+	const FString FullFilePath = FPaths::Combine(BasePath, FileName + TEXT(".jsonl"));
+
+	// Join the array into one string with line breaks
+	const FString FileContent = FString::Join(JsonLines, TEXT(""));
+
+	// Write to file
+	return FFileHelper::SaveStringToFile(FileContent, *FullFilePath);
+}
\ No newline at end of file
diff --git a/Source/LuckyWorldV2/Public/_Utils/FileUtils.h b/Source/LuckyWorldV2/Public/_Utils/FileUtils.h
new file mode 100644
index 00000000..e0a58af7
--- /dev/null
+++ b/Source/LuckyWorldV2/Public/_Utils/FileUtils.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "CoreMinimal.h"
+#include "FileUtils.generated.h"
+
+UCLASS()
+class LUCKYWORLDV2_API UFileUtils : public UObject
+{
+	GENERATED_BODY()
+	
+public:
+	UFileUtils();
+
+	static bool WriteJsonlFile(const TArray<FString>& JsonLines, const FString& BasePath, const FString& FileName);
+};
\ No newline at end of file