Restore native video rectangles and RGB color tags (5/1329)

Presentation repair only: retained camera RGB pixels, frame counts and timestamps are verified exactly. Numeric action/state and source qualification annotations are unchanged. Previous presentation is preserved by the before-native-video-presentation-20261030 tag.

README.md

@@ -54,9 +54,9 @@ Demonstrations use **LeRobot v2.1** at **20 Hz**.
 | --- | --- | --- |
 | `observation.state` | `float32[23]` | Twenty joint channels, world-frame base `(x, y)`, and unwrapped yaw |
 | `action` | `float32[22]` | Twenty joint-position targets, body-forward velocity, and yaw rate |
-| `observation.images.top_head` | RGB video, 800 × 1280 × 3 | Head camera |
-| `observation.images.hand_left` | RGB video, 480 × 848 × 3 | Left wrist camera |
-| `observation.images.hand_right` | RGB video, 480 × 848 × 3 | Right wrist camera |
+| `observation.images.top_head` | RGB video, native resolution | Head camera |
+| `observation.images.hand_left` | RGB video, native resolution | Left wrist camera |
+| `observation.images.hand_right` | RGB video, native resolution | Right wrist camera |
 | `task_index` | `int64` | Language instruction in `meta/tasks.jsonl` |
 | `timestamp` | `float64` | Episode time in seconds |
 | `episode_index`, `frame_index`, `index` | `int64` | Episode, frame, and dataset indices |
@@ -72,6 +72,16 @@ auxiliary/   Original source fields and supporting data
 
 Episode provenance and original diagnostic labels are retained in [meta/episode_provenance.jsonl](meta/episode_provenance.jsonl) and [meta/qualification.jsonl](meta/qualification.jsonl). Signal origins and alignment are recorded in [meta/component_origin_index.json](meta/component_origin_index.json) and [meta/alignment_conventions.json](meta/alignment_conventions.json).
 
+## Native video resolution and browser playback
+
+In progress: 5/1,329 targeted videos corrected. See [repair status](meta/video_presentation_repair.json).
+
+Videos retain their source camera resolution. Synthetic black padding is removed without resizing camera content; examples include 640 × 480, 1280 × 800 and 848 × 480. Actual per-episode dimensions are listed in [video dimensions](meta/video_dimensions.jsonl). Spatial dimensions are `null` in global feature metadata when episodes have different sizes. The portable loader resolves a selected episode's concrete shapes in memory. For mixed-resolution training batches, explicitly configure your model's image preprocessing or group episodes by resolution; padding is not reintroduced by this dataset.
+
+RGB H.264 streams with unspecified color primaries/transfer tags could render green in Chrome. Corrected files declare full-range RGB, BT.709 primaries and the sRGB transfer function. Every corrected video is fully decoded and its retained RGB pixels are compared against the previous release, with exact equality and unchanged frame timestamps. Some unaligned crops require lossless RGB re-encoding; most files use stream-copy metadata edits. Numeric action/state data, task identities and original qualification annotations are unchanged. This repair is presentation validation, not new physical-success or owner approval.
+
+The previous presentation remains available at revision `cfdc72460733616ad216db60410d2c49dbf4e832`. There is no archive to unpack on Hugging Face; the files under `videos/` are individual MP4s.
+
 ## Download
 
 ```bash

meta/RELEASE_VALIDATED.json

@@ -1,43 +1,15 @@
 {
-  "schema": "robotagentbench.capped_release_ready.v1",
+  "schema": "robotagentbench.video_presentation_validation.v1",
   "complete": true,
   "passed": true,
-  "dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_capped_50_10_20261026/dataset",
-  "source_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_unified_action22_state23_20261026/dataset",
   "episodes": 5055,
   "frames": 8120103,
   "videos": 15165,
-  "hours": 112.77920833333333,
-  "atomic_short_hours": 78.15898611111112,
-  "by_kind": {
-    "atomic": 4195,
-    "short": 750,
-    "long": 70,
-    "open": 40
-  },
-  "instruction_variants": 203,
-  "removed_episodes": 91,
-  "per_task_cap": {
-    "atomic": 50,
-    "short": 50,
-    "long": 10,
-    "open": 10
-  },
-  "default_collection": "all",
-  "action_dimensions": 22,
-  "state_dimensions": 23,
-  "all_retained_signals_and_video_preserved": true,
-  "quality_filter_applied": false,
-  "tablecloth_excluded": true,
+  "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+  "all_numeric_signals_preserved": true,
+  "all_repaired_camera_pixels_exact": true,
+  "native_resolution_migration_complete": false,
   "owner_approval_added": false,
   "physical_success_upgraded": false,
-  "errors": [],
-  "checked_at_utc": "2026-10-27T01:20:15.308620+00:00",
-  "validation_reports": [
-    "CAP_BUILD_COMPLETE.json",
-    "INDEPENDENT_CAPPED_SOURCE_QA.json",
-    "CAPPED_FORMAT_QA.json",
-    "OFFICIAL_CAPPED_LOADER_QA.json",
-    "CAPPED_LANGUAGE_QA.json"
-  ]
+  "report": "meta/video_presentation_repair.json"
 }

meta/episode_provenance.jsonl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:efb39937c643f5d85e09c16d18bdff53359dcce51f8f0048da9590157fe241e0
-size 67760444
+oid sha256:3be3b4b527cff4ea45ef24e8ab470ee657dcfbab6d2faa4d5a60a5de18b3837a
+size 65202217

meta/episodes_stats.jsonl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:631e80a0780973f1983f6a8b39a19eec3f679e3e4f056dadc083bcfcfab1730f
-size 25402019
+oid sha256:19118738ddc901fc8667ecd67584afad36d28fca064c845ae28603a0367ac350
+size 23845085

meta/info.json

@@ -162,8 +162,8 @@
     "observation.images.top_head": {
       "dtype": "video",
       "shape": [
-        800,
-        1280,
+        null,
+        null,
         3
       ],
       "names": [
@@ -172,20 +172,32 @@
         "channel"
       ],
       "video_info": {
-        "video.height": 800,
-        "video.width": 1280,
+        "video.height": null,
+        "video.width": null,
         "video.channels": 3,
         "video.codec": "h264",
         "video.fps": 20.0,
         "video.is_depth_map": false,
         "has_audio": false
-      }
+      },
+      "native_shapes": [
+        [
+          480,
+          640,
+          3
+        ],
+        [
+          800,
+          1280,
+          3
+        ]
+      ]
     },
     "observation.images.hand_left": {
       "dtype": "video",
       "shape": [
-        480,
-        848,
+        null,
+        null,
         3
       ],
       "names": [
@@ -194,20 +206,32 @@
         "channel"
       ],
       "video_info": {
-        "video.height": 480,
-        "video.width": 848,
+        "video.height": null,
+        "video.width": null,
         "video.channels": 3,
         "video.codec": "h264",
         "video.fps": 20.0,
         "video.is_depth_map": false,
         "has_audio": false
-      }
+      },
+      "native_shapes": [
+        [
+          480,
+          640,
+          3
+        ],
+        [
+          480,
+          848,
+          3
+        ]
+      ]
     },
     "observation.images.hand_right": {
       "dtype": "video",
       "shape": [
-        480,
-        848,
+        null,
+        null,
         3
       ],
       "names": [
@@ -216,14 +240,26 @@
         "channel"
       ],
       "video_info": {
-        "video.height": 480,
-        "video.width": 848,
+        "video.height": null,
+        "video.width": null,
         "video.channels": 3,
         "video.codec": "h264",
         "video.fps": 20.0,
         "video.is_depth_map": false,
         "has_audio": false
-      }
+      },
+      "native_shapes": [
+        [
+          480,
+          640,
+          3
+        ],
+        [
+          480,
+          848,
+          3
+        ]
+      ]
     }
   },
   "owner_approval_added": false,
@@ -346,7 +382,7 @@
     "missing_rows": 0
   },
   "recommended_video_backend": "pyav",
-  "pixel_formats": "Original encodings plus lossless RGB padding; consult episode provenance for each camera",
+  "pixel_formats": "Original encodings with explicit color metadata on repaired RGB streams; source camera RGB pixels retained exactly.",
   "source_revision": "handoff_capped_50_10_20261026",
   "qualification_required": false,
   "conversion_only": true,
@@ -357,5 +393,9 @@
   "quality_filter_applied": false,
   "selection_policy": "User requested per-task count cap; latest corrected sources first; stable explicit source order within version; no quality filtering.",
   "unified_core_schema": true,
-  "schema_coercion_note": "Same widths/order/units; actual recording, constraint-derived and replay-pose-derived components remain separately identified in provenance, never reclassified as observed or issued."
+  "schema_coercion_note": "Same widths/order/units; actual recording, constraint-derived and replay-pose-derived components remain separately identified in provenance, never reclassified as observed or issued.",
+  "video_resolution_policy": "Native source camera rectangles; spatial dimensions vary across episodes. No resizing or added padding.",
+  "video_resolution_manifest": "meta/video_dimensions.jsonl",
+  "video_presentation_status": "meta/video_presentation_repair.json",
+  "native_resolution_migration_complete": false
 }

meta/stats.json

@@ -152,71 +152,71 @@
     ]
   },
   "observation.images.hand_left": {
-    "min": [
+    "mean": [
       [
         [
-          0.0
+          0.44587263571377017
         ]
       ],
       [
         [
-          0.0
+          0.380159413760631
         ]
       ],
       [
         [
-          0.0
+          0.314169009844479
         ]
       ]
     ],
-    "max": [
+    "std": [
       [
         [
-          1.0
+          0.28123648064605045
         ]
       ],
       [
         [
-          1.0
+          0.2640307684530142
         ]
       ],
       [
         [
-          1.0
+          0.24965850206586096
         ]
       ]
     ],
-    "mean": [
+    "min": [
       [
         [
-          0.4458219452101607
+          0.0
         ]
       ],
       [
         [
-          0.3801157898070041
+          0.0
         ]
       ],
       [
         [
-          0.3141377077477624
+          0.0
         ]
       ]
     ],
-    "std": [
+    "max": [
       [
         [
-          0.2812579540052525
+          1.0
         ]
       ],
       [
         [
-          0.2640457194407105
+          1.0
         ]
       ],
       [
         [
-          0.24966973320191815
+          1.0
         ]
       ]
     ],
@@ -225,71 +225,71 @@
     ]
   },
   "observation.images.hand_right": {
-    "min": [
+    "mean": [
       [
         [
-          0.0
+          0.4298706213459807
         ]
       ],
       [
         [
-          0.0
+          0.36820069690184426
         ]
       ],
       [
         [
-          0.0
+          0.3087010167747811
         ]
       ]
     ],
-    "max": [
+    "std": [
       [
         [
-          1.0
+          0.2792491521720199
         ]
       ],
       [
         [
-          1.0
+          0.26317828192419207
         ]
       ],
       [
         [
-          1.0
+          0.24864215069251822
         ]
       ]
     ],
-    "mean": [
+    "min": [
       [
         [
-          0.429845776288182
+          0.0
         ]
       ],
       [
         [
-          0.36817908885110046
+          0.0
         ]
       ],
       [
         [
-          0.30868416936451454
+          0.0
         ]
       ]
     ],
-    "std": [
+    "max": [
       [
         [
-          0.279257393036249
+          1.0
         ]
       ],
       [
         [
-          0.26318302060839793
+          1.0
         ]
       ],
       [
         [
-          0.24864525792277664
+          1.0
         ]
       ]
     ],
@@ -298,71 +298,71 @@
     ]
   },
   "observation.images.top_head": {
-    "min": [
+    "mean": [
       [
         [
-          0.0
+          0.46846228244215515
         ]
       ],
       [
         [
-          0.0
+          0.3898259388853319
         ]
       ],
       [
         [
-          0.0
+          0.30850533509693956
         ]
       ]
     ],
-    "max": [
+    "std": [
       [
         [
-          1.0
+          0.28012345712560954
         ]
       ],
       [
         [
-          1.0
+          0.25957506839359434
         ]
       ],
       [
         [
-          1.0
+          0.2390067525240803
         ]
       ]
     ],
-    "mean": [
+    "min": [
       [
         [
-          0.46832371321929295
+          0.0
         ]
       ],
       [
         [
-          0.38970467736079467
+          0.0
         ]
       ],
       [
         [
-          0.30841441018211374
+          0.0
         ]
       ]
     ],
-    "std": [
+    "max": [
       [
         [
-          0.2801973489378005
+          1.0
         ]
       ],
       [
         [
-          0.25962305048526996
+          1.0
         ]
       ],
       [
         [
-          0.23903614578476962
+          1.0
         ]
       ]
     ],

meta/video_presentation_repair.json

@@ -0,0 +1,188 @@
+{
+  "schema": "robotagentbench.native_video_presentation.v1",
+  "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+  "complete": false,
+  "total_main_videos": 15165,
+  "target_videos": 1329,
+  "repaired_videos": 5,
+  "remaining_videos": 1324,
+  "repaired_episodes": 2,
+  "all_repaired_camera_pixels_exact": true,
+  "all_repaired_frame_counts_and_pts_preserved": true,
+  "no_image_resampling": true,
+  "no_new_padding": true,
+  "numeric_data_changed": false,
+  "qualification_changed": false,
+  "owner_approval_added": false,
+  "color_repair": "Explicit full-range RGB matrix0, BT.709 primaries1, sRGB transfer13. No color grading or RGB pixel changes.",
+  "crop_repair": "Only documented all-frame exact-black padding is excluded. Unaligned left crops use lossless RGB encoding for consistent PyAV decoding.",
+  "browser_evidence": "Chrome155.0.8059.84, plain HTML video, original green padding[0,77,0] vs corrected RGB identical to PyAV.",
+  "video_dimensions": "meta/video_dimensions.jsonl",
+  "reports": [
+    {
+      "passed": true,
+      "path": "videos/chunk-004/observation.images.hand_left/episode_004844.mp4",
+      "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+      "source_bytes": 218127432,
+      "crop_xywh": [
+        104,
+        0,
+        640,
+        480
+      ],
+      "width": 640,
+      "height": 480,
+      "frames": 1186,
+      "fps": 20,
+      "pixel_format": "gbrp",
+      "codec": "h264",
+      "output_bytes": 203973436,
+      "all_frame_rgb_pixels_exact": true,
+      "all_frame_padding_black": true,
+      "corrupt_frames": 0,
+      "max_pts_error_s": 0,
+      "stats": null,
+      "color_primaries": 1,
+      "color_transfer": 13,
+      "color_matrix": 0,
+      "full_range": true,
+      "method": "lossless_rgb_reencode_for_unaligned_left_crop",
+      "reencoded": true,
+      "no_scaling": true,
+      "no_padding_added": true,
+      "elapsed_s": 79.98710172297433
+    },
+    {
+      "passed": true,
+      "path": "videos/chunk-004/observation.images.top_head/episode_004844.mp4",
+      "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+      "source_bytes": 95187783,
+      "crop_xywh": [
+        320,
+        160,
+        640,
+        480
+      ],
+      "width": 640,
+      "height": 480,
+      "frames": 1186,
+      "fps": 20,
+      "pixel_format": "gbrp",
+      "codec": "h264",
+      "output_bytes": 95187811,
+      "all_frame_rgb_pixels_exact": true,
+      "all_frame_padding_black": true,
+      "corrupt_frames": 0,
+      "max_pts_error_s": 0,
+      "stats": null,
+      "color_primaries": 1,
+      "color_transfer": 13,
+      "color_matrix": 0,
+      "full_range": true,
+      "method": "sps_vui_display_crop_and_color_tags_stream_copy",
+      "reencoded": false,
+      "no_scaling": true,
+      "no_padding_added": true,
+      "elapsed_s": 32.44260529591702
+    },
+    {
+      "passed": true,
+      "path": "videos/chunk-005/observation.images.hand_left/episode_005054.mp4",
+      "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+      "source_bytes": 1936324077,
+      "crop_xywh": [
+        0,
+        0,
+        640,
+        480
+      ],
+      "width": 640,
+      "height": 480,
+      "frames": 15501,
+      "fps": 20,
+      "pixel_format": "gbrp",
+      "codec": "h264",
+      "output_bytes": 1936324099,
+      "all_frame_rgb_pixels_exact": true,
+      "all_frame_padding_black": true,
+      "corrupt_frames": 0,
+      "max_pts_error_s": 0,
+      "stats": null,
+      "color_primaries": 1,
+      "color_transfer": 13,
+      "color_matrix": 0,
+      "full_range": true,
+      "method": "sps_vui_display_crop_and_color_tags_stream_copy",
+      "reencoded": false,
+      "no_scaling": true,
+      "no_padding_added": true,
+      "elapsed_s": 495.2133515229216
+    },
+    {
+      "passed": true,
+      "path": "videos/chunk-005/observation.images.hand_right/episode_005054.mp4",
+      "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+      "source_bytes": 1879552741,
+      "crop_xywh": [
+        0,
+        0,
+        640,
+        480
+      ],
+      "width": 640,
+      "height": 480,
+      "frames": 15501,
+      "fps": 20,
+      "pixel_format": "gbrp",
+      "codec": "h264",
+      "output_bytes": 1879552763,
+      "all_frame_rgb_pixels_exact": true,
+      "all_frame_padding_black": true,
+      "corrupt_frames": 0,
+      "max_pts_error_s": 0,
+      "stats": null,
+      "color_primaries": 1,
+      "color_transfer": 13,
+      "color_matrix": 0,
+      "full_range": true,
+      "method": "sps_vui_display_crop_and_color_tags_stream_copy",
+      "reencoded": false,
+      "no_scaling": true,
+      "no_padding_added": true,
+      "elapsed_s": 479.36921202996746
+    },
+    {
+      "passed": true,
+      "path": "videos/chunk-005/observation.images.top_head/episode_005054.mp4",
+      "source_revision": "cfdc72460733616ad216db60410d2c49dbf4e832",
+      "source_bytes": 1453177550,
+      "crop_xywh": [
+        0,
+        0,
+        640,
+        480
+      ],
+      "width": 640,
+      "height": 480,
+      "frames": 15501,
+      "fps": 20,
+      "pixel_format": "gbrp",
+      "codec": "h264",
+      "output_bytes": 1453177575,
+      "all_frame_rgb_pixels_exact": true,
+      "all_frame_padding_black": true,
+      "corrupt_frames": 0,
+      "max_pts_error_s": 0,
+      "stats": null,
+      "color_primaries": 1,
+      "color_transfer": 13,
+      "color_matrix": 0,
+      "full_range": true,
+      "method": "sps_vui_display_crop_and_color_tags_stream_copy",
+      "reencoded": false,
+      "no_scaling": true,
+      "no_padding_added": true,
+      "elapsed_s": 419.75824990298133
+    }
+  ]
+}

portable_loader.py

@@ -33,10 +33,25 @@ def load_collection(root, name="all", episodes=None, cache_dir=None):
     if cache_dir is not None:
         os.environ["HF_DATASETS_CACHE"] = str(Path(cache_dir).resolve())
     from lerobot.datasets.lerobot_dataset import LeRobotDataset
-    return LeRobotDataset(
+    dataset = LeRobotDataset(
         repo_id=f"local/robotagentbench-{name}", root=collection_root(root, name), episodes=episodes,
         download_videos=False, video_backend="pyav", tolerance_s=0.0003,
     )
+    # Specialize only in-memory metadata for a uniformly sized selection.
+    dimensions = collection_root(root, name) / "meta/video_dimensions.jsonl"
+    if dimensions.exists() and episodes is not None:
+        selected = set(episodes)
+        shapes = {}
+        for line in dimensions.open():
+            row = json.loads(line)
+            if row["episode_index"] in selected:
+                shapes.setdefault(row["video_key"], set()).add((row["height"], row["width"], 3))
+        for key, sizes in shapes.items():
+            if len(sizes) == 1:
+                shape = next(iter(sizes))
+                dataset.meta.info["features"][key]["shape"] = shape
+                dataset.meta.info["features"][key]["video_info"].update({"video.height": shape[0], "video.width": shape[1]})
+    return dataset
 
 
 if __name__ == "__main__":

schema/info.json

@@ -162,8 +162,8 @@
     "observation.images.top_head": {
       "dtype": "video",
       "shape": [
-        800,
-        1280,
+        null,
+        null,
         3
       ],
       "names": [
@@ -172,20 +172,32 @@
         "channel"
       ],
       "video_info": {
-        "video.height": 800,
-        "video.width": 1280,
+        "video.height": null,
+        "video.width": null,
         "video.channels": 3,
         "video.codec": "h264",
         "video.fps": 20.0,
         "video.is_depth_map": false,
         "has_audio": false
-      }
+      },
+      "native_shapes": [
+        [
+          480,
+          640,
+          3
+        ],
+        [
+          800,
+          1280,
+          3
+        ]
+      ]
     },
     "observation.images.hand_left": {
       "dtype": "video",
       "shape": [
-        480,
-        848,
+        null,
+        null,
         3
       ],
       "names": [
@@ -194,20 +206,32 @@
         "channel"
       ],
       "video_info": {
-        "video.height": 480,
-        "video.width": 848,
+        "video.height": null,
+        "video.width": null,
         "video.channels": 3,
         "video.codec": "h264",
         "video.fps": 20.0,
         "video.is_depth_map": false,
         "has_audio": false
-      }
+      },
+      "native_shapes": [
+        [
+          480,
+          640,
+          3
+        ],
+        [
+          480,
+          848,
+          3
+        ]
+      ]
     },
     "observation.images.hand_right": {
       "dtype": "video",
       "shape": [
-        480,
-        848,
+        null,
+        null,
         3
       ],
       "names": [
@@ -216,14 +240,26 @@
         "channel"
       ],
       "video_info": {
-        "video.height": 480,
-        "video.width": 848,
+        "video.height": null,
+        "video.width": null,
         "video.channels": 3,
         "video.codec": "h264",
         "video.fps": 20.0,
         "video.is_depth_map": false,
         "has_audio": false
-      }
+      },
+      "native_shapes": [
+        [
+          480,
+          640,
+          3
+        ],
+        [
+          480,
+          848,
+          3
+        ]
+      ]
     }
   },
   "owner_approval_added": false,
@@ -346,7 +382,7 @@
     "missing_rows": 0
   },
   "recommended_video_backend": "pyav",
-  "pixel_formats": "Original encodings plus lossless RGB padding; consult episode provenance for each camera",
+  "pixel_formats": "Original encodings with explicit color metadata on repaired RGB streams; source camera RGB pixels retained exactly.",
   "source_revision": "handoff_capped_50_10_20261026",
   "qualification_required": false,
   "conversion_only": true,
@@ -357,5 +393,9 @@
   "quality_filter_applied": false,
   "selection_policy": "User requested per-task count cap; latest corrected sources first; stable explicit source order within version; no quality filtering.",
   "unified_core_schema": true,
-  "schema_coercion_note": "Same widths/order/units; actual recording, constraint-derived and replay-pose-derived components remain separately identified in provenance, never reclassified as observed or issued."
+  "schema_coercion_note": "Same widths/order/units; actual recording, constraint-derived and replay-pose-derived components remain separately identified in provenance, never reclassified as observed or issued.",
+  "video_resolution_policy": "Native source camera rectangles; spatial dimensions vary across episodes. No resizing or added padding.",
+  "video_resolution_manifest": "meta/video_dimensions.jsonl",
+  "video_presentation_status": "meta/video_presentation_repair.json",
+  "native_resolution_migration_complete": false
 }

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