diff --git a/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset b/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset
index c208af64..4d8a6bcb 100644
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diff --git a/Content/Developers/Wdev/Robots/BP_SoArm100robot.uasset b/Content/Developers/Wdev/Robots/BP_SoArm100robot.uasset
index ffa0ac0e..ba52d763 100644
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diff --git a/Content/Levels/kitchenLevel/BP-Sensor.uasset b/Content/Levels/kitchenLevel/BP-Sensor.uasset
new file mode 100644
index 00000000..bb01a116
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diff --git a/Content/Levels/kitchenLevel/kitchenLevel1.umap b/Content/Levels/kitchenLevel/kitchenLevel1.umap
index 417621ea..471da775 100644
Binary files a/Content/Levels/kitchenLevel/kitchenLevel1.umap and b/Content/Levels/kitchenLevel/kitchenLevel1.umap differ
diff --git a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp
index c0a62a36..ebe16c93 100644
--- a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp
+++ b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp
@@ -2,31 +2,19 @@
 
 
 #include "LuckyDataTransferSubsystem.h"
-
-#include "AutomationBlueprintFunctionLibrary.h"
-#include "ImageUtils.h"
 #include "RenderingThread.h"
 #include "RenderUtils.h"
-#include "RenderGraphUtils.h"
 #include "RHI.h"
 #include "RHICommandList.h"
 #include "ImageWriteQueue.h"
 #include "ImageWriteTask.h"
 #include "ImagePixelData.h"
-#include "JsonUtilities.h"
 #include "JsonObjectConverter.h"
-#include "ReviewComments.h"
 #include "WebSocketsModule.h"
 #include "IWebSocket.h"
-#include "Kismet/KismetStringLibrary.h"
-#include "Camera/CameraActor.h"
 #include "Camera/CameraComponent.h"
 #include "Components/SceneCaptureComponent2D.h"
-#include "Kismet/GameplayStatics.h"
-#include "Kismet/KismetMathLibrary.h"
 #include "Kismet/KismetRenderingLibrary.h"
-#include "Slate/SceneViewport.h"
-#include "Virtualization/VirtualizationTypes.h"
 
 ULuckyDataTransferSubsystem::ULuckyDataTransferSubsystem()
 {
@@ -89,16 +77,16 @@ void ULuckyDataTransferSubsystem::Callback_OnConnected()
 	UE_LOG(LogTemp, Warning, TEXT("WebSocket connected successfully"));
 }
 
-void ULuckyDataTransferSubsystem::Callback_OnConnectionError(const FString& Error)
+void ULuckyDataTransferSubsystem::Callback_OnConnectionError(const FString& Error) const
 {
 	UE_LOG(LogTemp, VeryVerbose, TEXT("Websocket connection error: %s"), *Error)
 }
 
-void ULuckyDataTransferSubsystem::Callback_OnMessage(const FString& Message)
+void ULuckyDataTransferSubsystem::Callback_OnMessage(const FString& Message) const
 {
 	if (!Message.IsEmpty())
 	{
-		CommandReady(InterpretData(Message));
+		CommandReady(ParseJsonPayload(Message));
 		return;
 	}
 
@@ -130,9 +118,9 @@ void ULuckyDataTransferSubsystem::SendMessage(const FString& Message)
 	UE_LOG(LogTemp, Warning, TEXT("WebSocket outgoing message failed"));
 }
 
-FPayload ULuckyDataTransferSubsystem::InterpretData(const FString& Message)
+FRemoteControlPayload ULuckyDataTransferSubsystem::ParseJsonPayload(const FString& Message)
 {
-	FPayload Payload = FPayload();
+	FRemoteControlPayload Payload = FRemoteControlPayload();
 	
 	if (!Message.IsEmpty())
 	{
@@ -143,9 +131,9 @@ FPayload ULuckyDataTransferSubsystem::InterpretData(const FString& Message)
 		{
 			for (auto& Elem : JsonObj->Values)
 			{
-				FCommand Command = FCommand();
-				Command.Key = FString(Elem.Key);
-				Command.Value = Elem.Value->AsNumber();
+				FRemoteControlActuatorCommand Command = FRemoteControlActuatorCommand();
+				Command.ActuatorName = FString(Elem.Key);
+				Command.ActuatorValue = Elem.Value->AsNumber();
 
 				Payload.Commands.Add(Command);
 			}
@@ -161,7 +149,7 @@ void IncomingMessage(const FString& Message)
 	UE_LOG(LogTemp, Warning, TEXT("Incoming message: %s"), *outMessage);
 }
 
-void ULuckyDataTransferSubsystem::CommandReady(const FPayload& Payload)
+void ULuckyDataTransferSubsystem::CommandReady(const FRemoteControlPayload& Payload) const
 {
 	if (OnCommandReady.IsBound())
 	{
@@ -204,90 +192,97 @@ void ULuckyDataTransferSubsystem::RegisterSensor(ALuckySensorPawnBase* Sensor)
 	}
 }
 
-bool ULuckyDataTransferSubsystem::WriteImageToDisk(const FString& inPath, const double Timestamp, const FString& Comment)
+bool ULuckyDataTransferSubsystem::WriteImageToDisk(const double Timestamp, const FString& InPath, const FString& Comment)
 {
 	if (SessionID.IsEmpty())
 	{
 		UE_LOG(LogTemp, Warning, TEXT("The Capture Session ID is empty"));
 		return false;
 	}
-
+	
 	// TODO JB: I have this line in my project because I had a discrepancy in editor vs packaged
 	// TODO UKismetSystemLibrary::GetProjectSavedDirectory()
 	// TODO Check which one is working in shipping build
-	FString Path = inPath.IsEmpty() ? FPaths::ProjectSavedDir() : inPath; // swap this for const path
-	
-	if (!SensorPawns.IsEmpty())
+	FString Path = InPath.IsEmpty() ? FPaths::ProjectSavedDir() : InPath; // swap this for const path
+
+	if (SensorPawns.IsEmpty())
 	{
-		for (const ALuckySensorPawnBase* Sensor : SensorPawns)
+		UE_LOG(LogTemp, Warning, TEXT("Attempted to capture image data but no sensors are registered"));
+		return false;
+	}
+	
+	for (const ALuckySensorPawnBase* Sensor : SensorPawns)
+	{
+		if (IsValid(Sensor) && Sensor->SensorInfo.bActive && Sensor->GetCamera() && Sensor->GetCaptureComponent())
 		{
-			if (IsValid(Sensor) && Sensor->SensorInfo.bActive && Sensor->GetCamera() && Sensor->GetCaptureComponent())
+			// TODO Pass the robot name in params - use RobotType and EnumToString
+			FString Robot = TEXT("Robot_Name");
+
+			FString Episode = SessionID;
+
+			ENQUEUE_RENDER_COMMAND(ReadPixelsAsync)([Sensor, Path, Timestamp, Comment, Episode](FRHICommandListImmediate& RHICmdList)
 			{
-				FString Robot = TEXT("Robot_Name");
+				FTextureResource* Resource = Sensor->RenderTarget->GetResource();
+				FRHITexture* ResourceRHI = Resource->GetTexture2DRHI();
 
-				FString Episode = SessionID;
+				TArray<FColor> OutPixels;
 
-				ENQUEUE_RENDER_COMMAND(ReadPixelsAsync)([Sensor, Path, Timestamp, Comment, Episode](FRHICommandListImmediate& RHICmdList)
+				// Fail and exit 
+				if (!ensure(ResourceRHI))
 				{
-					FTextureResource* Resource = Sensor->RenderTarget->GetResource();
-					FRHITexture* ResourceRHI = Resource->GetTexture2DRHI();
+					UE_LOG(LogTemp, Warning, TEXT("ResourceRHI not found"));
+					return;
+				}
+				
+				OutPixels.SetNum(Resource->GetSizeX() * Resource->GetSizeY());
+				RHICmdList.ReadSurfaceData(
+					ResourceRHI,
+					FIntRect(0, 0, Resource->GetSizeX(), Resource->GetSizeY()),
+					OutPixels,
+					FReadSurfaceDataFlags()
+				);
 
-					TArray<FColor> OutPixels;
+				// TODO This logs 1, it doesn't work?
+				// UE_LOG(LogTemp, Warning, TEXT("Logged pixels: %d"), OutPixels.Num())
 
-					if (ensure(ResourceRHI))
-					{
-						OutPixels.SetNum(Resource->GetSizeX() * Resource->GetSizeY());
-						RHICmdList.ReadSurfaceData(
-							ResourceRHI,
-							FIntRect(0, 0, Resource->GetSizeX(), Resource->GetSizeY()),
-							OutPixels,
-							FReadSurfaceDataFlags()
-						);
+				FImageWriteTask* ImageTask = new FImageWriteTask();
 
-						UE_LOG(LogTemp, Warning, TEXT("Logged pixels: %d"), OutPixels.Num())
+				// TODO What's that for?
+				if (Path.Right(1) == "/")
+				{
+					//Path = Path.Left(Path.Len() - 1);
+				}
 
-						FImageWriteTask* ImageTask = new FImageWriteTask();
-						
-						if (Path.Right(1) == "/")
-						{
-							//Path = Path.Left(Path.Len() - 1);
-						}
+				// TODO Replace by what?
+				const FString RobotName = TEXT("Robot_Name");
+				
+				const FString Filename = FString::Printf(
+				TEXT("%s/TrainingData/%s/%s/%s/%s_%s_%s_%d"),
+					*Path,
+					*RobotName,
+					*Episode,
+					*Sensor->SensorInfo.Name,
+					*RobotName,
+					*Sensor->SensorInfo.Name,
+					*Comment,
+					FMath::Floor<int32>(Timestamp * 1000)
+				);
+				
+				UE_LOG(LogTemp, VeryVerbose, TEXT("FileName %s"), *Filename);
 
-						FString Robot = TEXT("Robot_Name");
-						
-						const FString Filename = FString::Printf(
-						TEXT("LuckRobotData/%s/%s/%s/%s/%s_%s_%s_%d"),
-							*Path,
-							*Robot,
-							*Episode,
-							*Sensor->SensorInfo.Name,
-							*Robot,
-							*Sensor->SensorInfo.Name,
-							*Comment,
-							FMath::Floor<int32>(Timestamp * 1000)
-						);
-						
-						//UE_LOG(LogTemp, Warning, TEXT("Evan requested a longer string describing the inner workings of the following string which describes in great detail the file path for the image you've just written to disk. It is: %s"), *Filename);
+				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;
+				ImageTask->CompressionQuality = static_cast<int32>(EImageCompressionQuality::Default);
+				
+				// Add to write queue (async)
+				FModuleManager::LoadModuleChecked<IImageWriteQueueModule>("ImageWriteQueue").GetWriteQueue().Enqueue(TUniquePtr<IImageWriteTaskBase>(ImageTask));
 
-						ImageTask->Format = EImageFormat::PNG;
-						ImageTask->Filename = Filename;
-						ImageTask->PixelData = MakeUnique<TImagePixelData<FColor>>(FIntPoint(Sensor->RenderTarget->GetSurfaceWidth(), Sensor->RenderTarget->GetSurfaceHeight()), TArray64<FColor>(OutPixels));
-						ImageTask->bOverwriteFile = true;
-						ImageTask->CompressionQuality = (int32)EImageCompressionQuality::Default;
-						
-						//Add to write queue (async)
-						FModuleManager::LoadModuleChecked<IImageWriteQueueModule>("ImageWriteQueue").GetWriteQueue().Enqueue(TUniquePtr<IImageWriteTaskBase>(ImageTask));
-
-						ImageTask->OnCompleted = [](bool bSuccess) {
-							UE_LOG(LogTemp, Warning, TEXT("Image write completed: %s"), bSuccess ? TEXT("Success") : TEXT("Failed"));
-						};
-						
-						return true;
-					}
-					
-					return false;
-				});
-			}
+				ImageTask->OnCompleted = [](bool bSuccess) {
+					UE_LOG(LogTemp, VeryVerbose, TEXT("Image write completed: %s"), bSuccess ? TEXT("Success") : TEXT("Failed"));
+				};
+			});
 		}
 	}
 	
diff --git a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckySensorPawnBase.cpp b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckySensorPawnBase.cpp
index 5a3896c6..4c348dd0 100644
--- a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckySensorPawnBase.cpp
+++ b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckySensorPawnBase.cpp
@@ -29,7 +29,7 @@ ALuckySensorPawnBase::ALuckySensorPawnBase()
 	
 	RenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(TEXT("RenderTarget"));
 	RenderTarget->UpdateResourceImmediate(true);
-	RenderTarget->ResizeTarget(1, 1);
+	RenderTarget->ResizeTarget(640, 360);
 
 
 	CaptureComponent->CaptureSource = SCS_FinalColorLDR;
diff --git a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransferSubsystem.h b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransferSubsystem.h
index 120913ad..42910c97 100644
--- a/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransferSubsystem.h
+++ b/Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransferSubsystem.h
@@ -13,32 +13,32 @@
  * 
  */
 USTRUCT(BlueprintType)
-struct FCommand
+struct FRemoteControlActuatorCommand
 {
 	GENERATED_BODY()
 
 public:
 	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	FString Key = FString();
+	FString ActuatorName = FString();
 
 	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	float Value = 0.f;
+	float ActuatorValue = 0.f;
 };
 
 USTRUCT(BlueprintType)
-struct FPayload
+struct FRemoteControlPayload
 {
 	GENERATED_BODY()
 
 public:
 	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	TArray<FCommand> Commands;
+	TArray<FRemoteControlActuatorCommand> Commands;
 
 	UPROPERTY(BlueprintReadOnly, Category = "Command")
 	int32 Index = 0;
 };
 
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FCommandReady, const FPayload&, Payload);
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FCommandReady, const FRemoteControlPayload&, Payload);
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FSocketReady, bool, bSuccessful);
 
 UCLASS()
@@ -51,9 +51,9 @@ public:
 
 	ULuckyDataTransferSubsystem();
 
-	virtual void Initialize(FSubsystemCollectionBase& Collection);
+	virtual void Initialize(FSubsystemCollectionBase& Collection) override;
 	
-	virtual void Deinitialize();
+	virtual void Deinitialize() override;
 
 	TSharedPtr<IWebSocket> Socket;
 
@@ -61,7 +61,8 @@ public:
 	
 	void Internal_OpenWebsocket(const FString& URL, const FString& Protocol);
 
-	FPayload InterpretData(const FString& Message);
+	// Parse a JSON Payload received from a websocket connection into a Cpp struct
+	static FRemoteControlPayload ParseJsonPayload(const FString& Message);
 
 	UPROPERTY(BlueprintAssignable)
 	FCommandReady OnCommandReady;
@@ -74,10 +75,10 @@ public:
 	void Callback_OnConnected();
 	
 	UFUNCTION()
-	void Callback_OnConnectionError(const FString& Error);
+	void Callback_OnConnectionError(const FString& Error) const;
 	
 	UFUNCTION()
-	void Callback_OnMessage(const FString& Message);
+	void Callback_OnMessage(const FString& Message) const;
 	
 	UFUNCTION()
 	void Internal_OnMessageSent(const FString& Message);
@@ -93,7 +94,7 @@ public:
 	void SendMessage(const FString& Message);
 
 	UFUNCTION()
-	void CommandReady(const FPayload& Payload);
+	void CommandReady(const FRemoteControlPayload& Payload) const;
 
 	//---Observations (Sent to server from Unreal)--------------//
 	//Feature Data declarations
@@ -126,7 +127,7 @@ public:
 	void RegisterSensor(ALuckySensorPawnBase* Sensor);
 
 	UFUNCTION(BlueprintCallable, Meta = (AutoCreateRefTerm = "Path, Comment"), Category = "Capture")
-	bool WriteImageToDisk(const FString& Path, const double Timestamp, const FString& Comment = "");
+	bool WriteImageToDisk(const double Timestamp, const FString& InPath = "", const FString& Comment = "");
 	//-------------------------------------------------------//
 	
 };
diff --git a/Source/LuckyWorldV2/LuckyWorldV2.Build.cs b/Source/LuckyWorldV2/LuckyWorldV2.Build.cs
index e7a8cf2f..8a50f741 100644
--- a/Source/LuckyWorldV2/LuckyWorldV2.Build.cs
+++ b/Source/LuckyWorldV2/LuckyWorldV2.Build.cs
@@ -8,11 +8,18 @@ public class LuckyWorldV2 : ModuleRules
 	{
 		PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
 	
-		PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "EnhancedInput",
+		PublicDependencyModuleNames.AddRange(new string[] { 
+			"Core", 
+			"CoreUObject", 
+			"Engine", 
+			"InputCore", 
+			"EnhancedInput",
 			"ChaosVehicles", 
 			"PhysicsCore",
 			"AsyncLoadingScreen",
 			"BlueprintJson",
+			"Json",
+			"JsonUtilities",
 			"FileHelper",
 			"LuckyMujoco",
 			"LuckyTextWrite",
diff --git a/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp b/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp
index b3398ab4..41971e10 100644
--- a/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp
+++ b/Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp
@@ -7,6 +7,12 @@
 #include "LuckyDataTransferSubsystem.h"
 #include "Components/TextRenderComponent.h"
 #include "Engine/TextRenderActor.h"
+#include "Misc/FileHelper.h"
+#include "Misc/Paths.h"
+#include "Dom/JsonObject.h"
+#include "Serialization/JsonWriter.h"
+#include "Serialization/JsonSerializer.h"
+#include "_Utils/FileUtils.h"
 
 UEpisodeSubSystem::UEpisodeSubSystem()
 {
@@ -16,12 +22,15 @@ UEpisodeSubSystem::UEpisodeSubSystem()
 void UEpisodeSubSystem::Initialize(FSubsystemCollectionBase& Collection)
 {
 	Super::Initialize(Collection);
+	if (ULuckyDataTransferSubsystem* DataTransferSubSystem = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
+	{
+		DataTransfer = DataTransferSubSystem;
+	}
 }
 
 void UEpisodeSubSystem::Deinitialize()
 {
-	bTickEnabled = false;
-	FTSTicker::GetCoreTicker().RemoveTicker(TickHandle);
+	StopTicking();
 	Super::Deinitialize();
 }
 
@@ -45,16 +54,21 @@ void UEpisodeSubSystem::Tick(float DeltaTime)
 	{
 		const bool bIsEpisodeCompleted = CheckEpisodeCompletion();
 
-		if (bIsEpisodeCompleted && CapturedEpisodes <= EpisodesToCapture)
-		{
-			return StartEpisode();
-		}
-		
-		// Here shouldn't we rewrite the frames to know if the episode was a success or a failure?
+		// Write Image on the disk
+		if (DataTransfer) DataTransfer->WriteImageToDisk(CurrentRobot->PhysicsSceneProxy->GetMujocoData().time);
+		EpisodeFrames++;
 
-		// Maybe this should not be done in the tick but after episode completion
-		const auto Payload = CreatePayload();
-		SendEpisodeData(Payload);
+		if (!bIsEpisodeCompleted) return;
+
+		EndEpisode();
+		if (CapturedEpisodes < EpisodesToCapture)
+		{
+			StartEpisode();
+		}
+		else
+		{
+			EndTraining();
+		}
 	}
 }
 
@@ -68,6 +82,12 @@ void UEpisodeSubSystem::StartTicking()
 	TickHandle = FTSTicker::GetCoreTicker().AddTicker(TickDelegate);
 }
 
+void UEpisodeSubSystem::StopTicking()
+{
+	bTickEnabled = false;
+	FTSTicker::GetCoreTicker().RemoveTicker(TickHandle);
+}
+
 void UEpisodeSubSystem::UpdateDebugTextActor() const
 {
 	if (!IsValid(DebugTextActor)) return;
@@ -77,7 +97,7 @@ void UEpisodeSubSystem::UpdateDebugTextActor() const
 	TextRender->SetText(FText::FromString(Txt));
 }
 
-void UEpisodeSubSystem::StartNewEpisodesSeries(const int32 EpisodesCountIn, FString BaseImageDataPathIn)
+void UEpisodeSubSystem::StartTraining(const int32 EpisodesCountIn, FString BaseImageDataPathIn, FString TaskDescriptionIn)
 {
 	// Debug
 	const auto DebugTextActorPtr = UGameplayStatics::GetActorOfClass(this->GetWorld(), ATextRenderActor::StaticClass());
@@ -97,10 +117,18 @@ void UEpisodeSubSystem::StartNewEpisodesSeries(const int32 EpisodesCountIn, FStr
 	// Data
 	ConfigureDataCapture();
 	BaseImageDataPath = BaseImageDataPathIn;
+	TaskDescription = TaskDescriptionIn;
 
 	StartTicking();
 }
 
+void UEpisodeSubSystem::EndTraining()
+{
+	StopTicking();
+	CreateEpisodesStatsJsonFile();
+	// Create jsonl files
+}
+
 void UEpisodeSubSystem::StartEpisode()
 {
 	// Robot should be in its ready state - overriden per PilotComponent 
@@ -114,9 +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();
 	
@@ -134,6 +159,24 @@ void UEpisodeSubSystem::StartEpisode()
 	UpdateDebugTextActor();
 }
 
+void UEpisodeSubSystem::EndEpisode()
+{
+	// Gather the robot data
+	const FTrainingEpisodeData TrainingEpisodeData = CurrentRobot->RobotPilotComponent->GetTrainingEpisodeData();
+
+	// Create episodes_stats.jsonl single line and append to EpisodeStatLines  
+	CreateEpisodeStatJsonLine(TrainingEpisodeData);
+	
+	// create a parquet file
+	CreateEpisodeParquetFile();
+	
+	// Convert images into video
+	// TODO Find a good FFMPEG plugin - maybe the Unreal base one is good
+
+	// Reset values for the next episode
+	EpisodeFrames = 0;
+}
+
 bool UEpisodeSubSystem::CheckEpisodeCompletion()
 {
 	const auto GeomTransform = CurrentRobot->PhysicsSceneProxy->GetGeometryTransform(EpisodeTargetObject->MainActorBody.GetName());
@@ -184,53 +227,94 @@ void UEpisodeSubSystem::FindRobotPawnFromScene()
 	}
 }
 
+void UEpisodeSubSystem::InitCameras()
+{
+	// TODO Fix the spawning of sensors in Cpp and spawn them using a config?
+	// TODO How people can move the camera themselves?
+
+	// Find all sensors in the scene
+	TArray<AActor*> Sensors;
+	UGameplayStatics::GetAllActorsOfClass(this->GetWorld(), ALuckySensorPawnBase::StaticClass(), Sensors);
+	
+	for (const auto Sensor : Sensors)
+	{
+		if (const auto Camera = Cast<ALuckySensorPawnBase>(Sensor)) Cameras.Add(Camera);
+	}
+}
+
 void UEpisodeSubSystem::ConfigureDataCapture()
 {
-	if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
+	if (!DataTransfer) return;
+	DataTransfer->CreateCaptureSessionID();
+	InitCameras();
+	for (const auto& Cam : Cameras)
 	{
-		//Do this before your tick operation - shouldn't happen on tick
-		//Connect to websocket and create session id
-		DataTransfer->ConnectToWebsocket("ws://127.0.0.1:3000", "");
-		DataTransfer->CreateCaptureSessionID();
+		DataTransfer->RegisterSensor(Cam.Get());
+		Cam->SensorInfo.bActive = true;
 	}
 }
 
-FObservationPayload UEpisodeSubSystem::CreatePayload()
+void UEpisodeSubSystem::CreateEpisodeStatJsonLine(const FTrainingEpisodeData& TrainingEpisodeData)
 {
-	// CurrentRobot->Cameras
-	// CurrentRobot -> Tell JB what he should expose on the RobotPawn
-	// const auto TimeStamp = CurrentRobot->PhysicsSceneProxy->GetMujocoData().time;
-	// const auto So100PilotCmp = Cast<URobotPilotSO100Component>(CurrentRobot->RobotPilotComponent);
-	// const auto Joints = So100PilotCmp->GetCurrentControlsFromPhysicScene();
+	// EpisodeStatLines.
+	const TSharedPtr<FJsonObject> Root = MakeShared<FJsonObject>();
+	Root->SetNumberField("episode_index", CapturedEpisodes);
 
-	// Tick operation
-	// Create the payload
-	return FObservationPayload {
-		// timestamp goes here - FString,
-		// "observation", //just leave this because this is what ethan and anuj will expect
-		// enter a message here - FString,
-		// TMap of FString (Actuator name or index), and Float (value of actuator)
-		// Camera info struct goes here, don't worry about this for now, just use TArray<FObservationCameraObject>()
-		// What about episode success?
-		// How to invalidate data
-	};
+	const TSharedPtr<FJsonObject> Stats = MakeShared<FJsonObject>();
+	Stats->SetObjectField("action", MakeShared<FJsonObject>(TrainingEpisodeData.ControlsStats));
+	Stats->SetObjectField("observation.state", MakeShared<FJsonObject>(TrainingEpisodeData.JointsStats));
+
+	// TODO Once all json and parquet files are written on disk and the PR is merged into main and tested, we will do it 
+	// TODO "observation.images.webcam"
+	// TODO "timestamp"
+	// TODO "frame_index"
+	// TODO "episode_index"
+	// TODO "index"
+	// TODO "task_index"
+	
+	// Append 
+	Root->SetObjectField("stats", Stats);
+	
+	// Serialize into FString 
+	FString Output;
+	const TSharedRef< TJsonWriter< TCHAR, TCondensedJsonPrintPolicy<TCHAR> > > Writer =	TJsonWriterFactory< TCHAR, TCondensedJsonPrintPolicy<TCHAR> >::Create(&Output);
+	FJsonSerializer::Serialize(Root.ToSharedRef(), Writer);
+	EpisodeStatLines.Add(Output);
 }
 
-void UEpisodeSubSystem::SendEpisodeData(const FObservationPayload& Payload) const
+void UEpisodeSubSystem::CreateEpisodeParquetFile()
 {
-	if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
-	{
-		// Here generate the path for each image?
-		// DataTransfer->WriteImageToDisk(BaseImageDataPath, 0.f);
-
-		// Don't send data if socket is disconnected
-		if (!DataTransfer->Socket->IsConnected()) return;
-		
-		// Send the Data
-		//Queue and convert the payload to json
-		DataTransfer->CreateJsonPayload_Observation(Payload);
-
-		//Send the payload over websocket
-		DataTransfer->SendMessage(DataTransfer->ObservationPayloadString);
-	}
+	// TODO Use Anuj plugin to create one parquet file per episode
 }
+
+void UEpisodeSubSystem::ConvertImagesToVideo()
+{
+	// TODO Once every json and parquet tasks are done
+}
+
+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
+}
+
+void UEpisodeSubSystem::CreateEpisodesJsonFile()
+{
+	// Create a jsonl file and store in the correct directory
+	// https://huggingface.co/datasets/youliangtan/so100_strawberry_grape/blob/main/meta/episodes.jsonl
+}
+
+void UEpisodeSubSystem::CreateInfoJsonFile()
+{
+	// https://huggingface.co/datasets/youliangtan/so100_strawberry_grape/blob/main/meta/info.json
+}
+
+void UEpisodeSubSystem::CreateTasksJsonFile()
+{
+	// https://huggingface.co/datasets/youliangtan/so100_strawberry_grape/blob/main/meta/tasks.jsonl
+}
+
diff --git a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp
index 26d2e9a2..b5a8ddb9 100644
--- a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp
+++ b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp
@@ -60,3 +60,23 @@ void URobotPilotComponent::SetRobotTarget(const FTransform& TargetTransformIn)
 void URobotPilotComponent::SetRobotCurrentRewardZone(const FTransform& RewardTransformIn)
 {
 }
+
+void URobotPilotComponent::ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload)
+{
+}
+
+FJsonObject URobotPilotComponent::GetBufferedControlsData()
+{
+	return FJsonObject();
+}
+
+FJsonObject URobotPilotComponent::GetBufferedJointsData()
+{
+	return FJsonObject();
+}
+
+FTrainingEpisodeData URobotPilotComponent::GetTrainingEpisodeData()
+{
+	return FTrainingEpisodeData();
+}
+
diff --git a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp
index 851d11bb..b0c56686 100644
--- a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp
+++ b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp
@@ -1,4 +1,6 @@
 #include "Robot/PilotComponent/RobotPilotSO100Component.h"
+
+#include "LuckyDataTransferSubsystem.h"
 #include "Actors/MujocoVolumeActor.h"
 #include "Kismet/KismetMathLibrary.h"
 #include "Robot/RobotPawn.h"
@@ -22,10 +24,9 @@ void URobotPilotSO100Component::BeginPlay()
 void URobotPilotSO100Component::TickComponent(float DeltaTime, enum ELevelTick TickType,
 	FActorComponentTickFunction* ThisTickFunction)
 {
-	// Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
-	// const auto Joints = GetCurrentJointsFromPhysicsScene();
-	// const auto Controls = GetCurrentControlsFromPhysicScene();
-	// UE_LOG(LogTemp, Log, TEXT("Joint: %f - Control: %f - Delta: %f"), Joints.Jaw, Controls.Jaw, Controls.Jaw - Joints.Jaw);
+	// We can buffer data in the tick because it will never be called in parallel of MujocoVolumeActor tick
+	ControlsDataBuffer.Add(GetCurrentControlsFromPhysicScene());
+	JointsDataBuffer.Add(GetCurrentJointsFromPhysicsScene());
 }
 
 FTransform URobotPilotSO100Component::GetReachableTransform()
@@ -42,8 +43,6 @@ FTransform URobotPilotSO100Component::GetReachableTransform()
 	const float RandomYaw = MaxYaw * FMath::RandRange(0., 1.) * (FMath::RandBool() ? 1 : -1);
 	const FQuat RandomRotation = FRotator{0,RandomYaw,0}.Quaternion() * ArmWorldRotation;
 
-
-
 	// Compute Random Range within reach of the arm and add this to pivot location
 	// Add a bit more than the Jaw Offset - TODO Offsets must be better computed
 	const float RandomRange = JawOffset.X + MaxRange * FMath::RandRange(0.1f, 1.f);
@@ -54,11 +53,6 @@ FTransform URobotPilotSO100Component::GetReachableTransform()
 	RewardAxis.Z = 0; // Nullify Z to keep a 2D vector -> ensure the geometry roll/pitch are 0
 	const FRotator TowardPivotRotation = UKismetMathLibrary::MakeRotFromXZ(RewardAxis, FVector::UpVector);
 
-	// Debug
-	// DrawDebugLine(this->GetWorld(), ArmPivotLocation + ArmWorldRotation.GetForwardVector() * 70, ArmPivotLocation, FColor::Green, true);
-	// DrawDebugLine(this->GetWorld(), ArmPivotLocation + FVector::UpVector * 70, ArmPivotLocation, FColor::Red, true);
-	// DrawDebugLine(this->GetWorld(), RandomLocation, RandomLocation + TowardPivotRotation.Quaternion().GetForwardVector() * -50 , FColor::Blue, true);
-	
 	// Return the Object Transform
 	return FTransform(TowardPivotRotation, RandomLocation);
 }
@@ -90,6 +84,182 @@ void URobotPilotSO100Component::SetRobotCurrentRewardZone(const FTransform& Rewa
 	bDropZoneIsRight = FVector::DotProduct(RobotOwner->RobotActor->GetActorRotation().Quaternion().GetRightVector(), DirectionToTarget) > 0.f;
 }
 
+void URobotPilotSO100Component::ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload)
+{
+	for (const auto& [ActuatorName, ActuatorValue] : RemoteRobotPayload.Commands)
+	{
+		// Will print an error message if it doesn't exist
+		RobotOwner->PhysicsSceneProxy->SetActuatorValue(ActuatorName, ActuatorValue);
+	}
+}
+
+FTrainingEpisodeData URobotPilotSO100Component::GetTrainingEpisodeData()
+{
+	const auto TrainingData = FTrainingEpisodeData
+	{
+		GetBufferedJointsData(),
+		GetBufferedControlsData(),
+		GetStats(ControlsDataBuffer),
+		GetStats(JointsDataBuffer)
+	};
+	
+	ControlsDataBuffer.Empty();
+	JointsDataBuffer.Empty();
+	return TrainingData;
+}
+
+FJsonObject URobotPilotSO100Component::GetBufferedControlsData()
+{
+	auto BufferedData = FJsonObject();
+	TArray<TSharedPtr<FJsonValue>> ControlsArray;
+
+	for (const auto& Control : ControlsDataBuffer)
+	{
+		TSharedPtr<FJsonObject> ControlJson = MakeShared<FJsonObject>();
+
+		ControlJson->SetNumberField(TEXT("Rotation"), Control.Rotation);
+		ControlJson->SetNumberField(TEXT("Pitch"), Control.Pitch);
+		ControlJson->SetNumberField(TEXT("Elbow"), Control.Elbow);
+		ControlJson->SetNumberField(TEXT("WristPitch"), Control.WristPitch);
+		ControlJson->SetNumberField(TEXT("WristRoll"), Control.WristRoll);
+		ControlJson->SetNumberField(TEXT("Jaw"), Control.Jaw);
+		
+		ControlsArray.Add(MakeShared<FJsonValueObject>(ControlJson));
+	}
+	
+	BufferedData.SetArrayField(TEXT("action"), ControlsArray);
+
+	return BufferedData;
+}
+
+FJsonObject URobotPilotSO100Component::GetBufferedJointsData()
+{
+	auto BufferedData = FJsonObject();
+	TArray<TSharedPtr<FJsonValue>> ControlsArray;
+
+	for (const auto& Joint : JointsDataBuffer)
+	{
+		TSharedPtr<FJsonObject> ControlJson = MakeShared<FJsonObject>();
+
+		ControlJson->SetNumberField(TEXT("Rotation"), Joint.Rotation);
+		ControlJson->SetNumberField(TEXT("Pitch"), Joint.Pitch);
+		ControlJson->SetNumberField(TEXT("Elbow"), Joint.Elbow);
+		ControlJson->SetNumberField(TEXT("WristPitch"), Joint.WristPitch);
+		ControlJson->SetNumberField(TEXT("WristRoll"), Joint.WristRoll);
+		ControlJson->SetNumberField(TEXT("Jaw"), Joint.Jaw);
+		
+		ControlsArray.Add(MakeShared<FJsonValueObject>(ControlJson));
+	}
+
+	BufferedData.SetArrayField(TEXT("observation.state"), ControlsArray);
+
+	return BufferedData;
+}
+
+FJsonObject URobotPilotSO100Component::GetStats(const TArray<FSo100Actuators>& ActuatorStates)
+{
+	FSo100Actuators Min;
+	FSo100Actuators Max;
+	FSo100Actuators Sum = FSo100Actuators();
+	FSo100Actuators Variance = FSo100Actuators();
+	FSo100Actuators Mean;
+	FSo100Actuators StdDev;
+
+	// Compute Sum
+	for (const auto& State : ActuatorStates)
+	{
+		Sum.Rotation += State.Rotation;
+		Sum.Pitch += State.Pitch;
+		Sum.Elbow += State.Elbow;
+		Sum.WristPitch += State.WristPitch;
+		Sum.WristRoll += State.WristRoll;
+		Sum.Jaw += State.Jaw;
+
+		// Assign Max
+		if(State.Rotation > Max.Rotation) Max.Rotation = State.Rotation;
+		if(State.Pitch > Max.Pitch) Max.Pitch = State.Pitch;
+		if(State.Elbow > Max.Elbow) Max.Elbow = State.Elbow;
+		if(State.WristPitch > Max.WristPitch) Max.WristPitch = State.WristPitch;
+		if(State.WristRoll > Max.WristRoll) Max.WristRoll = State.WristRoll;
+		if(State.Jaw > Max.Jaw) Max.Jaw = State.Jaw;
+
+		// Assing min
+		if(State.Rotation < Min.Rotation) Min.Rotation = State.Rotation;
+		if(State.Pitch < Min.Pitch) Min.Pitch = State.Pitch;
+		if(State.Elbow < Min.Elbow) Min.Elbow = State.Elbow;
+		if(State.WristPitch < Min.WristPitch) Min.WristPitch = State.WristPitch;
+		if(State.WristRoll < Min.WristRoll) Min.WristRoll = State.WristRoll;
+		if(State.Jaw < Min.Jaw) Min.Jaw = State.Jaw;
+		
+	}
+
+	// Compute Mean
+	Mean.Rotation = Sum.Rotation / ActuatorStates.Num();
+	Mean.Pitch = Sum.Pitch / ActuatorStates.Num();
+	Mean.Elbow = Sum.Elbow / ActuatorStates.Num();
+	Mean.WristPitch = Sum.WristPitch / ActuatorStates.Num();
+	Mean.WristRoll = Sum.WristRoll / ActuatorStates.Num();
+	Mean.Jaw = Sum.Jaw / ActuatorStates.Num();
+
+	// Compute Variance
+	// Pre step
+	for (const auto& State : ActuatorStates)
+	{
+		const double DiffRotation = State.Rotation - Mean.Rotation;
+		const double DiffPitch = State.Pitch - Mean.Pitch;
+		const double DiffElbow = State.Elbow - Mean.Elbow;
+		const double DiffWristPitch = State.WristPitch - Mean.WristPitch;
+		const double DiffWristRoll = State.WristRoll - Mean.WristRoll;
+		const double DiffJaw = State.Jaw - Mean.Jaw;
+
+		Variance.Rotation += DiffRotation * DiffRotation;
+		Variance.Pitch += DiffPitch * DiffPitch;
+		Variance.Elbow += DiffElbow * DiffElbow;
+		Variance.WristPitch += DiffWristPitch * DiffWristPitch;
+		Variance.WristRoll += DiffWristRoll * DiffWristRoll;
+		Variance.Jaw += DiffJaw * DiffJaw;
+	}
+
+	// Final Variance Value per actuator
+	Variance.Rotation /= ActuatorStates.Num();
+	Variance.Pitch /= ActuatorStates.Num();
+	Variance.Elbow /= ActuatorStates.Num();
+	Variance.WristPitch /= ActuatorStates.Num();
+	Variance.WristRoll /= ActuatorStates.Num();
+	Variance.Jaw /= ActuatorStates.Num();
+
+	// Standard Deviation
+	StdDev.Rotation = FMath::Sqrt(Variance.Rotation); 
+	StdDev.Pitch = FMath::Sqrt(Variance.Pitch); 
+	StdDev.Elbow = FMath::Sqrt(Variance.Elbow); 
+	StdDev.WristPitch = FMath::Sqrt(Variance.WristPitch); 
+	StdDev.WristRoll = FMath::Sqrt(Variance.WristRoll); 
+	StdDev.Jaw = FMath::Sqrt(Variance.Jaw);
+
+	// Here create a json in the following format
+	FJsonObject StatsJson = FJsonObject();
+
+	// Helper lambda to convert FSo100Actuators to TArray<TSharedPtr<FJsonValue>>
+	auto ActuatorsToJsonArray = [](const FSo100Actuators& Actuators) -> TArray<TSharedPtr<FJsonValue>>
+	{
+		return {
+			MakeShared<FJsonValueNumber>(Actuators.Rotation),
+			MakeShared<FJsonValueNumber>(Actuators.Pitch),
+			MakeShared<FJsonValueNumber>(Actuators.Elbow),
+			MakeShared<FJsonValueNumber>(Actuators.WristPitch),
+			MakeShared<FJsonValueNumber>(Actuators.WristRoll),
+			MakeShared<FJsonValueNumber>(Actuators.Jaw)
+		};
+	};
+
+	StatsJson.SetArrayField(TEXT("min"), ActuatorsToJsonArray(Min));
+	StatsJson.SetArrayField(TEXT("max"), ActuatorsToJsonArray(Max));
+	StatsJson.SetArrayField(TEXT("mean"), ActuatorsToJsonArray(Mean));
+	StatsJson.SetArrayField(TEXT("std"), ActuatorsToJsonArray(StdDev));
+	StatsJson.SetArrayField(TEXT("count"), { MakeShared<FJsonValueNumber>(ActuatorStates.Num()) });
+
+	return StatsJson; 
+}
 
 void URobotPilotSO100Component::PrintCurrentActuators() const
 {
diff --git a/Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp b/Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp
index 2f0848f2..587adb17 100644
--- a/Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp
+++ b/Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp
@@ -1,5 +1,6 @@
 #include "Robot/RobotPawn.h"
 
+#include "LuckyDataTransferSubsystem.h"
 #include "LuckySensorPawnBase.h"
 #include "Kismet/GameplayStatics.h"
 #include "Kismet/KismetMathLibrary.h"
@@ -20,7 +21,6 @@ void ARobotPawn::BeginPlay()
 void ARobotPawn::InitRobot()
 {
 	InitPilotComponent();
-	InitCamera();
 }
 
 void ARobotPawn::InitPilotComponent()
@@ -70,17 +70,19 @@ void ARobotPawn::InitPilotComponent()
 	}
 }
 
-void ARobotPawn::InitCamera()
+void ARobotPawn::EnableRemoteControl()
 {
-	// TODO Fix the spawning of sensors in Cpp and spawn them using a config?
-	// TODO How people can move the camera themselves?
-
-	// Find all sensors in the scene
-	TArray<AActor*> Sensors;
-	UGameplayStatics::GetAllActorsOfClass(this->GetWorld(), ALuckySensorPawnBase::StaticClass(), Sensors);
-	
-	for (const auto Sensor : Sensors)
+	// Get subsystem
+	if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
 	{
-		if (const auto Camera = Cast<ALuckySensorPawnBase>(Sensor)) Cameras.Add(Camera);
+		// Connect first if necessary
+		if (!DataTransfer->Socket->IsConnected())
+		{
+			DataTransfer->ConnectToWebsocket("ws://127.0.0.1:3000", "");
+		}
+
+		// TODO Should we wait for connection to be successful before binding OnCommandReady?
+		DataTransfer->OnCommandReady.AddDynamic(this->RobotPilotComponent, &URobotPilotComponent::ReceiveRemoteCommand);
 	}
 }
+
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/Episode/EpisodeSubSystem.h b/Source/LuckyWorldV2/Public/Episode/EpisodeSubSystem.h
index 92cd95be..6f232aac 100644
--- a/Source/LuckyWorldV2/Public/Episode/EpisodeSubSystem.h
+++ b/Source/LuckyWorldV2/Public/Episode/EpisodeSubSystem.h
@@ -1,15 +1,34 @@
 #pragma once
 #include "CoreMinimal.h"
-#include "ObservationData.h"
+#include "Robot/PilotComponent/RobotPilotComponent.h"
 #include "Subsystems/WorldSubsystem.h"
 #include "Stats/Stats.h"
 #include "EpisodeSubSystem.generated.h"
 
 
+class ULuckyDataTransferSubsystem;
+class ALuckySensorPawnBase;
 class ATextRenderActor;
 class AMujocoStaticMeshActor;
 class ARobotPawn;
 
+USTRUCT()
+struct FTrainingEpisode
+{
+	GENERATED_BODY()
+	UPROPERTY()
+	int32 EpisodeIndex = -1;
+
+	UPROPERTY()
+	TArray<FString> Tasks;
+
+	UPROPERTY()
+	int32 Length = -1;
+};
+
+
+
+
 UCLASS()
 class LUCKYWORLDV2_API UEpisodeSubSystem : public UWorldSubsystem
 {
@@ -29,6 +48,7 @@ public:
 	// It will allows us to remove all the episode logic from the SubSystem and having different types of episodes 
 	void Tick(float DeltaTime);
 	void StartTicking();
+	void StopTicking();
 	FTSTicker::FDelegateHandle TickHandle;
 	bool bTickEnabled = true;
 
@@ -50,8 +70,11 @@ public:
 	 * Called by the UI when pressing the "Capture" button
 	 */
 	UFUNCTION(BlueprintCallable)
-	void StartNewEpisodesSeries(int32 EpisodesCountIn, FString BaseImageDataPathIn);
+	void StartTraining(int32 EpisodesCountIn, FString BaseImageDataPathIn, FString TaskDescriptionIn);
+	void EndTraining();
 
+	UPROPERTY()
+	ULuckyDataTransferSubsystem* DataTransfer = nullptr;
 	
 
 private:
@@ -59,6 +82,7 @@ private:
 	// ------- FLOW --------
 	// ---------------------
 	void StartEpisode();
+	void EndEpisode();
 	FTransform EpisodeRewardZone = FTransform::Identity;
 	float EpisodeRewardZoneRadius = 5.f; // TODO Not hardcode it - or only in the Robot? - Maybe we want different scenarios for the robot
 	bool CheckEpisodeCompletion();
@@ -85,24 +109,32 @@ private:
 	UPROPERTY()
 	TObjectPtr<ARobotPawn> CurrentRobot;
 
-
-
+	// ---------------------
+	// ------ SENSORS ------
+	// ---------------------
+	void InitCameras();
+	TArray<TObjectPtr<ALuckySensorPawnBase>> Cameras;
 
 	// --------------------
 	// ------- DATA -------
 	// --------------------
 	FString BaseImageDataPath;
-	
+	FString TaskDescription;
+	int32 EpisodeFrames = 0;
 	// Noah here add anything you need
 	void ConfigureDataCapture();
 
-	FObservationPayload CreatePayload();
-
-	void SendEpisodeData(const FObservationPayload& Payload) const;
-
-
-
+	// End of episode tasks
+	void CreateEpisodeStatJsonLine(const FTrainingEpisodeData& TrainingEpisodeData);
+	void CreateEpisodeParquetFile();
+	void ConvertImagesToVideo();
 	
+	// End of training files
+	TArray<FString> EpisodeStatLines;
+	void CreateEpisodesStatsJsonFile();
+	void CreateEpisodesJsonFile();
+	void CreateInfoJsonFile();
+	void CreateTasksJsonFile();
 };
 
 
diff --git a/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotComponent.h b/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotComponent.h
index 4b610192..f2108a4e 100644
--- a/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotComponent.h
+++ b/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotComponent.h
@@ -2,6 +2,8 @@
 #include "CoreMinimal.h"
 #include "RobotPilotComponent.generated.h"
 
+struct FRemoteControlPayload;
+
 USTRUCT(BlueprintType)
 struct FRobotActuators
 {
@@ -10,6 +12,17 @@ struct FRobotActuators
 	// What will be in common?
 };
 
+USTRUCT(BlueprintType)
+struct FTrainingEpisodeData
+{
+	GENERATED_BODY()
+	FJsonObject JointsStates; // The total series of joint values per frame
+	FJsonObject ControlsStates; // The total series of joint values per frame
+	FJsonObject JointsStats; // The min / max / mean / std for joints series
+	FJsonObject ControlsStats; // The min / max / mean / std for controls series
+};
+
+
 class ARobotPawn;
 
 UCLASS(Blueprintable)
@@ -33,7 +46,16 @@ public:
 	UFUNCTION(BlueprintCallable)
 	virtual void SetRobotTarget(const FTransform& TargetTransformIn);
 	virtual void SetRobotCurrentRewardZone(const FTransform& RewardTransformIn);
-		
+
+	UFUNCTION()
+	virtual void ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload);
+
+	// Data
+	virtual FJsonObject GetBufferedControlsData();
+	virtual FJsonObject GetBufferedJointsData();
+	virtual FTrainingEpisodeData GetTrainingEpisodeData(); 
+
+
 	
 protected: // Child class need access
 	// Only to easy access within the component
diff --git a/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h b/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
index 14ae6c7c..aa3daec1 100644
--- a/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
+++ b/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
@@ -3,6 +3,8 @@
 #include "Robot/PilotComponent/RobotPilotComponent.h"
 #include "RobotPilotSO100Component.generated.h"
 
+struct FRemoteControlPayload;
+
 USTRUCT(BlueprintType)
 struct FSo100Actuators
 {
@@ -42,7 +44,17 @@ public:
 
 	virtual void SetRobotTarget(const FTransform& TargetTransformIn) override;
 	virtual void SetRobotCurrentRewardZone(const FTransform& RewardTransformIn) override;
+	virtual void ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload) override;
 
+	// ------------------
+	// ------ DATA ------
+	// ------------------
+	virtual FTrainingEpisodeData GetTrainingEpisodeData() override;
+	virtual FJsonObject GetBufferedControlsData() override;
+	virtual FJsonObject GetBufferedJointsData() override;
+	TArray<FSo100Actuators> ControlsDataBuffer;
+	TArray<FSo100Actuators> JointsDataBuffer;
+	static FJsonObject GetStats(const TArray<FSo100Actuators>& ActuatorStates);
 	
 private:
 	FTransform TargetTransform;
diff --git a/Source/LuckyWorldV2/Public/Robot/RobotPawn.h b/Source/LuckyWorldV2/Public/Robot/RobotPawn.h
index 623f08cb..e2bd9240 100644
--- a/Source/LuckyWorldV2/Public/Robot/RobotPawn.h
+++ b/Source/LuckyWorldV2/Public/Robot/RobotPawn.h
@@ -41,10 +41,5 @@ public:
 	UFUNCTION(BlueprintCallable)
 	void InitPilotComponent(); // This should have Robot type as parameter?
 
-	// ---------------------
-	// ------ SENSORS ------
-	// ---------------------
-	void InitCamera();
-	UPROPERTY(EditAnywhere, BlueprintReadWrite)
-	TArray<TObjectPtr<ALuckySensorPawnBase>> Cameras;
+	void EnableRemoteControl();
 };
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