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  1. chunk-0031/part-0000/meta/info.json +392 -0
  2. chunk-0031/part-0000/meta/modality.json +106 -0
  3. chunk-0031/part-0000/meta/stats.json +914 -0
  4. chunk-0032/part-0000/_SUCCESS +1 -0
  5. chunk-0032/part-0000/meta/info.json +392 -0
  6. chunk-0032/part-0000/meta/modality.json +106 -0
  7. chunk-0032/part-0000/meta/stats.json +914 -0
  8. chunk-0033/part-0000/_SUCCESS +1 -0
  9. chunk-0033/part-0000/meta/info.json +392 -0
  10. chunk-0033/part-0000/meta/modality.json +106 -0
  11. chunk-0033/part-0000/meta/stats.json +914 -0
  12. chunk-0034/part-0000/_SUCCESS +1 -0
  13. chunk-0034/part-0000/meta/info.json +392 -0
  14. chunk-0034/part-0000/meta/modality.json +106 -0
  15. chunk-0034/part-0000/meta/stats.json +914 -0
  16. chunk-0035/part-0000/_SUCCESS +1 -0
  17. chunk-0035/part-0000/meta/info.json +392 -0
  18. chunk-0035/part-0000/meta/modality.json +106 -0
  19. chunk-0035/part-0000/meta/stats.json +914 -0
  20. chunk-0036/part-0000/_SUCCESS +1 -0
  21. chunk-0036/part-0000/meta/info.json +392 -0
  22. chunk-0036/part-0000/meta/modality.json +106 -0
  23. chunk-0036/part-0000/meta/stats.json +914 -0
  24. chunk-0037/part-0000/_SUCCESS +1 -0
  25. chunk-0037/part-0000/meta/info.json +392 -0
  26. chunk-0037/part-0000/meta/modality.json +106 -0
  27. chunk-0037/part-0000/meta/stats.json +914 -0
  28. chunk-0038/part-0000/_SUCCESS +1 -0
  29. chunk-0038/part-0000/meta/info.json +392 -0
  30. chunk-0038/part-0000/meta/modality.json +106 -0
  31. chunk-0038/part-0000/meta/stats.json +914 -0
  32. chunk-0039/part-0000/_SUCCESS +1 -0
  33. chunk-0039/part-0000/meta/info.json +392 -0
  34. chunk-0039/part-0000/meta/modality.json +106 -0
  35. chunk-0039/part-0000/meta/stats.json +914 -0
  36. chunk-0040/part-0000/_SUCCESS +1 -0
  37. chunk-0040/part-0000/meta/info.json +392 -0
  38. chunk-0040/part-0000/meta/modality.json +106 -0
  39. chunk-0040/part-0000/meta/stats.json +914 -0
chunk-0031/part-0000/meta/info.json ADDED
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+ {
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+ "codebase_version": "v3.0",
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+ }
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+ "observation.state": {
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+ "right",
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+ "left"
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+ ],
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+ "per_side": [
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+ "x",
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+ "y",
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+ "z",
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+ "rot6d_0",
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+ "rot6d_1",
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+ "rot6d_2",
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+ "rot6d_3",
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+ "rot6d_4",
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+ "rot6d_5",
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+ "gripper_angle_rad"
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+ ],
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+ "rotation_6d_layout": "first_two_rows",
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+ "gripper_unit": "rad",
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+ "invalid_policy": "carry_forward_state_with_observation.state_valid_false"
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+ },
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+ "action_layout": {
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+ "feature": "action",
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+ "type": "absolute_next_state_target",
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+ "order": [
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+ "right",
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+ "left"
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+ ],
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+ "per_side": [
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+ "x",
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+ "y",
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+ "z",
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+ "rot6d_0",
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+ "rot6d_1",
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+ "rot6d_2",
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+ "rot6d_3",
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+ "rot6d_4",
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+ "rot6d_5",
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+ "target_gripper_angle_rad"
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+ ],
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+ "rotation_6d_layout": "first_two_rows",
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+ "gripper_unit": "rad",
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+ "shift_policy": "action rows are [state_1, state_2, ..., state_last, state_last]; single-frame episodes use state_0"
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+ },
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+ "video_processing": {
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+ "source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index",
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+ "media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped",
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+ "present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames",
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+ "read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache",
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+ "read_modes_used": [
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+ "sequential"
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+ "face_anonymization": {
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+ "enabled": true,
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+ "failure_policy": "fail_closed_per_sample",
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+ "faces_json_policy": "reuse_valid_streams_detect_missing",
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+ "model": "yolov11s-face.pt",
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+ "device": "auto",
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+ "batch_size": 64,
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+ "center_fraction": 0.45,
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+ "pixel_block": 12,
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+ "feather_px": 8,
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+ "opacity": 0.92,
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+ "center_mean_mix": 0.08,
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+ "shape": "ellipse"
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+ },
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+ "codec": "h264",
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+ "gop_size": 4,
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+ "backend_requested": "auto",
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+ "backend_used": [
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+ "gpu"
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+ ],
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+ "decode_backend_requested": "cpu",
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+ "decode_backend_used": [
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+ "cpu"
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+ ],
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+ "frame_preprocess_requested": "cpu",
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+ "frame_preprocess_used": [
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+ "cpu_native_mosaic"
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+ ],
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+ "pix_fmt": "yuv420p",
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+ "crf_or_cq": 20,
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+ "aligned_video_frames": "one video frame per data row"
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+ },
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+ "parallelism": {
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+ "workers": 16,
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+ "video_workers": 8,
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+ "progress": true,
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+ "order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat"
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+ },
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+ "invalid_policy": {
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+ "training_filter": "valid.frame == true",
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+ "state": "state requires both eef pose and selected gripper valid",
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+ "media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped"
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+ },
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+ "source": {
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+ "format": "robot_sample_v1_sparse_revision",
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+ "converter": "convert_standard_umi_alike_to_lerobotv3.py",
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+ "robot_types": [
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+ "simpleai_umi_4.0"
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+ ],
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+ "robot_type_source": "revision_json_embodiment_name",
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+ "media_map": {
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+ "head_main": "observation.images.head_main",
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+ "head_main_stereo_right": "observation.images.head_main_stereo_right",
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+ "left_hand_down": "observation.images.left_hand_down",
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+ "left_hand_up": "observation.images.left_hand_up",
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+ "right_hand_down": "observation.images.right_hand_down",
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+ "right_hand_up": "observation.images.right_hand_up"
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+ },
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+ "media_key_source": "revision_json_components_media_key",
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+ "gripper_mode": "angle"
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+ }
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+ }
chunk-0031/part-0000/meta/modality.json ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "_README": [
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+ "UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
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+ "state/action vectors are [right_10d, left_10d].",
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+ "Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
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+ "Actions are absolute next-state targets with the final target repeated at the last row.",
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+ "Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
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+ ],
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+ "state": {
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+ "right_eef_pose": {
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+ "start": 0,
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+ "end": 9,
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+ "rotation_type": "rotation_6d",
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+ "rotation_6d_layout": "first_two_rows",
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+ "absolute": true,
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+ "dtype": "float32",
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+ "original_key": "observation.state"
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+ },
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+ "right_eef_gripper": {
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+ "start": 9,
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+ "end": 10,
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+ "absolute": true,
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+ "dtype": "float32",
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+ "unit": "rad",
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+ "original_key": "observation.state"
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+ },
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+ "left_eef_pose": {
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+ "start": 10,
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+ "end": 19,
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+ "rotation_type": "rotation_6d",
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+ "rotation_6d_layout": "first_two_rows",
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+ "absolute": true,
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+ "dtype": "float32",
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+ "original_key": "observation.state"
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+ },
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+ "left_eef_gripper": {
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+ "start": 19,
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+ "end": 20,
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+ "absolute": true,
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+ "dtype": "float32",
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+ "unit": "rad",
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+ "original_key": "observation.state"
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+ }
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+ },
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+ "action": {
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+ "right_eef_pose": {
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+ "start": 0,
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+ "end": 9,
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+ "rotation_type": "rotation_6d",
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+ "rotation_6d_layout": "first_two_rows",
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+ "absolute": true,
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+ "dtype": "float32",
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+ "original_key": "action"
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+ },
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+ "right_eef_gripper": {
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+ "start": 9,
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+ "end": 10,
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+ "absolute": true,
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+ "dtype": "float32",
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+ "unit": "rad",
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+ "original_key": "action"
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+ },
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+ "left_eef_pose": {
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+ "start": 10,
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+ "end": 19,
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+ "rotation_type": "rotation_6d",
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+ "rotation_6d_layout": "first_two_rows",
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+ "absolute": true,
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+ "dtype": "float32",
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+ "original_key": "action"
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+ },
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+ "left_eef_gripper": {
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+ "start": 19,
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+ "end": 20,
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+ "absolute": true,
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+ "dtype": "float32",
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+ "unit": "rad",
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+ "original_key": "action"
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+ }
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+ },
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+ "video": {
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+ "head_main": {
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+ "original_key": "observation.images.head_main"
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+ },
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+ "head_main_stereo_right": {
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+ "original_key": "observation.images.head_main_stereo_right"
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+ },
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+ "left_hand_down": {
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+ "original_key": "observation.images.left_hand_down"
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+ },
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+ "left_hand_up": {
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+ "original_key": "observation.images.left_hand_up"
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+ },
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+ "right_hand_down": {
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+ "original_key": "observation.images.right_hand_down"
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+ },
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+ "right_hand_up": {
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+ "original_key": "observation.images.right_hand_up"
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+ }
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+ },
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+ "annotation": {
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+ "human.action.task_description": {
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+ "original_key": "task_index"
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+ }
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+ }
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