diff --git a/convert_dataset_16_to_20.py b/convert_dataset_16_to_20.py
index abcd8ff0..1a4f1520 100644
--- a/convert_dataset_16_to_20.py
+++ b/convert_dataset_16_to_20.py
@@ -18,7 +18,8 @@ Single-task dataset:
 python convert_dataset_16_to_20.py \
     --repo-id lerobot/aloha_sim_insertion_human_image \
     --task "Insert the peg into the socket." \
-    --robot-config lerobot/configs/robot/aloha.yaml
+    --robot-config lerobot/configs/robot/aloha.yaml \
+    --local-dir data
 ```
 
 ```bash
@@ -50,7 +51,7 @@ 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.datasets.utils import create_branch, flatten_dict, unflatten_dict
 from lerobot.common.utils.utils import init_hydra_config
 from lerobot.scripts.push_dataset_to_hub import push_dataset_card_to_hub
 
@@ -58,7 +59,7 @@ V1_6 = "v1.6"
 V2_0 = "v2.0"
 
 PARQUET_PATH = "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet"
-VIDEO_PATH = "videos/{image_key}_episode_{episode_index:06d}.mp4"
+VIDEO_PATH = "videos/{video_key}_episode_{episode_index:06d}.mp4"
 
 
 def parse_robot_config(config_path: Path, config_overrides: list[str] | None = None) -> tuple[str, dict]:
@@ -104,17 +105,19 @@ def write_json(data: dict, fpath: Path) -> None:
 def convert_stats_to_json(input_dir: Path, output_dir: Path) -> None:
     safetensor_path = input_dir / "stats.safetensors"
     stats = load_file(safetensor_path)
-    serializable_stats = {key: value.tolist() for key, value in stats.items()}
+    serialized_stats = {key: value.tolist() for key, value in stats.items()}
+    serialized_stats = unflatten_dict(serialized_stats)
 
     json_path = output_dir / "stats.json"
     json_path.parent.mkdir(exist_ok=True, parents=True)
     with open(json_path, "w") as f:
-        json.dump(serializable_stats, f, indent=4)
+        json.dump(serialized_stats, f, indent=4)
 
     # Sanity check
     with open(json_path) as f:
         stats_json = json.load(f)
 
+    stats_json = flatten_dict(stats_json)
     stats_json = {key: torch.tensor(value) for key, value in stats_json.items()}
     for key in stats:
         torch.testing.assert_close(stats_json[key], stats[key])
@@ -270,6 +273,7 @@ def _get_video_info(video_path: Path | str) -> dict:
         "video.channels": pixel_channels,
         "video.codec": video_stream_info["codec_name"],
         "video.pix_fmt": video_stream_info["pix_fmt"],
+        "video.is_depth_map": False,
         **_get_audio_info(video_path),
     }
 
@@ -278,20 +282,13 @@ def _get_video_info(video_path: Path | str) -> dict:
 
 def get_videos_info(repo_id: str, local_dir: Path, video_keys: list[str]) -> dict:
     hub_api = HfApi()
-    videos_info_dict = {
-        "videos_path": VIDEO_PATH,
-        "has_audio": False,
-        "has_depth": False,
-    }
+    videos_info_dict = {"videos_path": VIDEO_PATH}
     for vid_key in video_keys:
-        video_path = VIDEO_PATH.format(image_key=vid_key, episode_index=0)
+        video_path = VIDEO_PATH.format(video_key=vid_key, episode_index=0)
         video_path = hub_api.hf_hub_download(
             repo_id=repo_id, repo_type="dataset", local_dir=local_dir, filename=video_path
         )
         videos_info_dict[vid_key] = _get_video_info(video_path)
-        videos_info_dict["has_audio"] = (
-            videos_info_dict["has_audio"] or videos_info_dict[vid_key]["has_audio"]
-        )
 
     return videos_info_dict
 
@@ -359,8 +356,8 @@ def convert_dataset(
     tasks_by_episodes: dict | None = None,
     robot_config: dict | None = None,
 ):
-    v1_6_dir = local_dir / repo_id / V1_6
-    v2_0_dir = local_dir / repo_id / V2_0
+    v1_6_dir = local_dir / V1_6 / repo_id
+    v2_0_dir = local_dir / V2_0 / repo_id
     v1_6_dir.mkdir(parents=True, exist_ok=True)
     v2_0_dir.mkdir(parents=True, exist_ok=True)
 
@@ -434,9 +431,10 @@ def convert_dataset(
         "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},
+        "video_keys": keys["video"],
+        "image_keys": keys["image"],
+        "shapes": {**sequence_shapes, **video_shapes, **image_shapes},
         "names": names,
         "videos": videos_info,
         "episodes": episodes,