[DATA-011] Publish verified Lift Basket and Press Button; keep first adaptation Push Box only

README.md

@@ -14,17 +14,34 @@ size_categories:
 
 Quadrupedal loco-manipulation demonstrations generated with Go2, a single FL manipulation leg, the existing RAMBO controller, native9 commands and ego + task RGB. The dataset is public; **the dataset license is pending (`unknown`)**. Public access is not an additional license grant.
 
+## First adaptation training/evaluation boundary
+
+**The first WAM adaptation v2 and v3 training, validation, test and evaluation are
+Push Box only**: fixed revision `4b5e0ed9aa04cbc1143774798f63171b27d838a7`, release `DATA-006-20260916T075451Z`,
+the original 50 episode identities and 40/5/5 split. Keep first-run download commands
+and preprocessing/training/evaluation configs pinned to that revision and release.
+Do not substitute Hub `main`, the newest publication revision or every release in
+this catalogue. There is no combined 70-episode adaptation training split.
+
+The Lift Basket and Press Button releases below are **publication_only for current
+adaptation use**, and explicitly excluded from those first runs. Their independent
+8/1/1 splits are standalone dataset metadata, not TRAIN/EVAL input admission.
+This current-use declaration does not restrict future independent use.
+Integrity readback and successful scripted demonstrations are not learned-model evaluation.
+
 ## Releases
 
 | Release | Task | Usable episodes | Actions | Train / validation / test |
 |---|---|---:|---:|---|
 | [DATA-006-20260916T075451Z](releases/DATA-006-20260916T075451Z/manifest.json) | Push Box | 50 | 24,335 | 40 / 5 / 5 |
+| [DATA-009-local-ten-20260926T130524Z](releases/DATA-009-local-ten-20260926T130524Z/manifest.json) | Lift Basket | 10 | 7,042 | 8 / 1 / 1 |
+| [DATA-010-20260926T073438Z](releases/DATA-010-20260926T073438Z/manifest.json) | Press Button | 10 | 5,194 | 8 / 1 / 1 |
 
 Payload revision: `21b69e2d775cd77d6565e25d1b0b99ad725b54b3`. See [release index](releases.json), [checksums](releases/DATA-006-20260916T075451Z/checksums.json), [distribution](releases/DATA-006-20260916T075451Z/distribution.json) and [acceptance](releases/DATA-006-20260916T075451Z/evidence/collection-acceptance.json).
 
 Only usable demonstration Raw/Canonical and associated evidence/replay are uploaded. Pilots, failed and quarantined attempts remain local and are not part of this repository's published payload. Existing release files are immutable; future releases use new directories. Model weights, asset source files, model caches and training artifacts are excluded.
 
-## Task and demonstration source
+## Push Box task and demonstration source
 
 Instruction: **Push the box into the target area.**
 
@@ -40,7 +57,7 @@ Dataset schema `wam-quadruped-v2.1.0`; LeRobot codebase v2.1 / library0.3.3; act
 
 Native9: base vx, base vy, base yaw rate, FL position xyz, desired FL force xyz. Command/state units and frames are specified by the included action config and contract. Raw/canonical policy RGB/actions are50Hz; observer25Hz is review-only. Model RGB12.5Hz uses factor-four row selection with **inherited authoritative `simulation_time_ns`**, never frame-index-generated timestamps. Canonical containsN action rows andN paired video frames with a separate pre-reset terminal state and two terminal PNGs. Raw retainsN+1 boundaries. All published episodes passed terminal-before-reset. Observer is never a canonical training camera or model input.
 
-Canonical at `canonical/lerobot_v2_1/DATA-006-20260916T075451Z` is self-contained for model preprocessing. Model normalization is fitted only on the40 training episodes; VAE/T5 caches stay outside the dataset and are regenerated locally. Historical source manifests retain original paths and identities; the release manifest supplies portable Hub paths and source mapping. The release is a versioned bundle: do not treat every Parquet in this repository as one flat Hugging Face training table.
+Canonical at `canonical/lerobot_v2_1/DATA-006-20260916T075451Z` is self-contained for model preprocessing. For the first Push Box adaptation runs, model normalization is fitted only on the40 training episodes; VAE/T5 caches stay outside the dataset and are regenerated locally. Historical source manifests retain original paths and identities; the release manifest supplies portable Hub paths and source mapping. The release is a versioned bundle: do not treat every Parquet in this repository as one flat Hugging Face training table.
 
 ## Download and replay
 
@@ -49,7 +66,7 @@ from huggingface_hub import snapshot_download
 from pathlib import Path
 snapshot = Path(snapshot_download(
     repo_id="dontKnow23456/QLM-Bench", repo_type="dataset",
-    revision="21b69e2d775cd77d6565e25d1b0b99ad725b54b3",
+    revision="4b5e0ed9aa04cbc1143774798f63171b27d838a7",
     allow_patterns=["canonical/lerobot_v2_1/DATA-006-20260916T075451Z/*"],
 ))
 canonical_root = snapshot / "canonical/lerobot_v2_1/DATA-006-20260916T075451Z"
@@ -64,3 +81,45 @@ For portable three-view replay, download the full pinned revision (omit `allow_p
 Box assets: [1057822006-svg/usd-cardboard-box-assets](https://github.com/1057822006-svg/usd-cardboard-box-assets), releasev0.1, commit`cb386b4cba6c6adf2d42b54be37a78f9d4f01589`. The source README recommends CC BY4.0 and requests creator attribution. Its statement concerns source assets and is not a declaration of this dataset's license. See [source attribution](releases/DATA-006-20260916T075451Z/evidence/asset-attribution-source.md) and [historical source manifest](releases/DATA-006-20260916T075451Z/evidence/asset-source-manifest-historical.json). The latter's pending-approval field records acquisition-time history, not current task acceptance. Task approval and actual runtime geometry are preserved in per-episode metadata.
 
 Robot: Unitree Go2; demonstrations use the existing RAMBO controller/checkpoint. Source/checkpoint hashes and camera/task parameters are retained per episode. RAMBO_Data owns simulation/publication; WAM-Policy owns model-side preprocessing/training. Model weights and third-party asset binaries are not redistributed here.
+
+## Lift Basket — DATA-009 publication
+
+Instruction: **Lift the basket.** Ten demonstrations, 7,042 actions, standalone 8/1/1 split.
+The existing OASIS basket is lifted by the FL foot through its handle. Success uses
+actual whole-basket transformed-geometry minimum clearance >=2cm, not fallen for
+three consecutive 50Hz policy ticks. All accepted episodes thread the complete foot
+before controlled lift. Only initial XY varies; assets, orientation/height, cameras,
+original controller and native9 force-zero remain fixed. Partial ego cropping is
+disclosed and diagnostic. The first two episodes used the accepted visibility-gated
+expert; the remaining eight removed visibility blocking after user clarification.
+Actual per-episode implementation hashes are retained. An interrupted attempt and
+all pilots stay excluded. Source basket binaries/textures are not redistributed.
+
+## Press Button — DATA-010 publication
+
+Instruction: **Press the button.** Ten demonstrations, 5,194 actions, standalone 8/1/1 split.
+Industrial/Emergency assets 5/5; baseline/early-stop configurations 5/5; red/blue/green/orange
+cap colors 3/3/2/2. Success requires real cap displacement >=12mm for Industrial or
+>=10mm for Emergency, not fallen for three policy ticks. Contact stays unknown diagnostic.
+No relative housing/collar shift is applied; high-level EEF approach/hold controls
+overshoot. All ten succeeded on their first attempts. Motion labels describe configured
+modes; measured stopping distances overlap due to tracking effects and are not relabeled.
+The DATA-008 technical pilot remains local/excluded. The inherited
+`physically_executed_press=false` flag describes the earlier static asset review;
+actual demonstrations are established by capture/summary/physics/behavior evidence.
+
+Asset provenance: Industrial Button by mark_saba,
+[Sketchfab a7e7c1772d764c3b913cccac66932236](https://sketchfab.com/3d-models/a7e7c1772d764c3b913cccac66932236),
+and Emergency Stop Button by phoenix-storms,
+[Sketchfab 012e4809a41445ca9de17286f677fabb](https://sketchfab.com/3d-models/012e4809a41445ca9de17286f677fabb).
+Acquisition-time metadata reports CC BY4.0 for the source assets; original and embedded
+author metadata remain in per-episode provenance. This is not a dataset license grant.
+Source binaries are excluded and QLM-Bench dataset license remains unknown.
+
+## New-release download and replay
+
+For either new release, use its `payload_revision` from [releases.json](releases.json)
+and its own canonical prefix. Download that release's Raw videos and `releases/<id>/`
+directory to replay its relative-path three-view page. These publication paths must
+not replace the first adaptation download example above. Each release is independent;
+the catalogue must not be loaded as one flat Parquet training table.

releases.json

@@ -18,6 +18,50 @@
       },
       "status": "verified",
       "scope": "usable_demonstrations_only"
+    },
+    {
+      "id": "DATA-009-local-ten-20260926T130524Z",
+      "task": "lift_basket",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/DATA-009-local-ten-20260926T130524Z",
+      "manifest": "releases/DATA-009-local-ten-20260926T130524Z/manifest.json",
+      "payload_revision": "93a238fdaec5b873c5eb16571f08c179fe5a011c",
+      "episodes": 10,
+      "actions": 7042,
+      "split": {
+        "train": 8,
+        "validation": 1,
+        "test": 1
+      },
+      "status": "verified",
+      "scope": "usable_demonstrations_only",
+      "adaptation_usage": "publication_only",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "id": "DATA-010-20260926T073438Z",
+      "task": "press_button",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/DATA-010-20260926T073438Z",
+      "manifest": "releases/DATA-010-20260926T073438Z/manifest.json",
+      "payload_revision": "93a238fdaec5b873c5eb16571f08c179fe5a011c",
+      "episodes": 10,
+      "actions": 5194,
+      "split": {
+        "train": 8,
+        "validation": 1,
+        "test": 1
+      },
+      "status": "verified",
+      "scope": "usable_demonstrations_only",
+      "adaptation_usage": "publication_only",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
     }
   ]
 }