diff --git a/convert_dataset_16_to_20.py b/convert_dataset_16_to_20.py
index fdb5f233..c53f7595 100644
--- a/convert_dataset_16_to_20.py
+++ b/convert_dataset_16_to_20.py
@@ -34,6 +34,7 @@ TODO
 """
 
 import argparse
+import contextlib
 import json
 import math
 import subprocess
@@ -45,10 +46,13 @@ import pyarrow.compute as pc
 import pyarrow.parquet as pq
 import torch
 from huggingface_hub import HfApi
+from huggingface_hub.errors import EntryNotFoundError
 from PIL import Image
 from safetensors.torch import load_file
 
+from lerobot.common.datasets.utils import create_branch
 from lerobot.common.utils.utils import init_hydra_config
+from lerobot.scripts.push_dataset_to_hub import push_dataset_card_to_hub
 
 V1_6 = "v1.6"
 V2_0 = "v2.0"
@@ -374,9 +378,11 @@ def convert_dataset(
     if robot_config is not None:
         robot_type = robot_config["robot_type"]
         names = robot_config["names"]
+        repo_tags = [robot_type]
     else:
         robot_type = "unknown"
         names = get_generic_motor_names(sequence_shapes)
+        repo_tags = None
 
     assert set(names) == set(keys["sequence"])
     for key in sequence_shapes:
@@ -396,6 +402,7 @@ def convert_dataset(
         "total_episodes": total_episodes,
         "total_tasks": len(tasks),
         "fps": metadata_v1_6["fps"],
+        "splits": {"train": f"0:{total_episodes}"},
         "image_keys": keys["video"] + keys["image"],
         "keys": keys["sequence"],
         "shapes": {**image_shapes, **video_shapes, **sequence_shapes},
@@ -404,15 +411,32 @@ def convert_dataset(
         "episodes": episodes,
     }
     write_json(metadata_v2_0, v2_0_dir / "meta" / "info.json")
-
     convert_stats_to_json(v1_6_dir / "meta_data", v2_0_dir / "meta")
 
-    # test_repo_id = f"aliberts/{repo_id.split('/')[1]}"
-    # if hub_api.repo_exists(test_repo_id, repo_type="dataset"):
-    #     hub_api.delete_repo(test_repo_id, repo_type="dataset")
+    with contextlib.suppress(EntryNotFoundError):
+        hub_api.delete_folder(repo_id=repo_id, path_in_repo="data", repo_type="dataset", revision="main")
 
-    # hub_api.create_repo(test_repo_id, repo_type="dataset", exist_ok=True)
-    # hub_api.upload_folder(repo_id=test_repo_id, folder_path=v2_0_dir, repo_type="dataset")
+    with contextlib.suppress(EntryNotFoundError):
+        hub_api.delete_folder(repo_id=repo_id, path_in_repo="meta_data", repo_type="dataset", revision="main")
+
+    hub_api.upload_folder(
+        repo_id=repo_id,
+        path_in_repo="data",
+        folder_path=v2_0_dir / "data",
+        repo_type="dataset",
+        revision="main",
+    )
+    hub_api.upload_folder(
+        repo_id=repo_id,
+        path_in_repo="meta",
+        folder_path=v2_0_dir / "meta",
+        repo_type="dataset",
+        revision="main",
+    )
+    metadata_v2_0.pop("episodes")
+    card_text = f"```json\n{json.dumps(metadata_v2_0, indent=4)}\n```"
+    push_dataset_card_to_hub(repo_id=repo_id, revision="main", tags=repo_tags, text=card_text)
+    create_branch(repo_id=repo_id, branch=V2_0, repo_type="dataset")
 
     # TODO:
     # - [X] Add shapes
@@ -422,9 +446,10 @@ def convert_dataset(
     # - [X] Add task.json
     # - [X] Add names
     # - [X] Add robot_type
+    # - [X] Add splits
+    # - [X] Push properly to branch v2.0 and delete v1.6 stuff from that branch
     # - [/] Add sanity checks (encoding, shapes)
     # - [ ] Handle multitask datasets
-    # - [ ] Push properly to branch v2.0 and delete v1.6 stuff from that branch
 
 
 def main():