ALTER hardware data
Two independently selectable data bundles are included:
| Bundle | Files | Bytes | Contents |
|---|---|---|---|
| hardware-demonstrations-data | 501 | 48,137,006,286 | Selected base demonstrations, paired demonstrations, and distilled replay |
| hardware-training-data | 412 | 20,798,158,144 | Original images.npy / trajectory.npz for 206 prepared records |
The model/metadata bundle provides the portable manifests and catalogs. There are 332 base-training and 32 base-validation records; the high-data adaptation set contains 69 paired demonstrations and 68 replay records. The low-data set uses 30 pairs and 30 replay records from the same cache pool. Shared data are stored once. Cardboard replay recordings were policy-generated, not human demonstrations.
High-data sampling has 93,164 two-arm anchors and 44,224 replay anchors; low-data
sampling has 37,319 and 19,921. Original timestamps, indices, phase labels, weights,
action values, image bytes, normalization metadata, grouping and ordering are
preserved. Cartesian xyz uses millimeters; rotations use radians; action rows are
[x, y, z, roll, pitch, yaw, gripper].
These are recovered prepared inputs, not a complete raw hardware backup. Some original raw recordings and scored physical-trial evidence are absent. Some prepared records use retained-row ordinal time rather than physical timestamps; their original per-record provenance documents this. The current-frame training protocol is preserved rather than reinterpreted as a temporal dataset.
Original data/cache bytes are unchanged; export receipts and checksum manifests record their identities. Path-bearing metadata is sanitized in independent copies. Representative inspection of 59 frames showed robot workspaces and task objects, with no obvious faces or private text in those samples. This was a representative review, not an exhaustive inspection of every frame.
Published as hardware v1. See USAGE.md and release-manifest.json for downloads pinned to immutable artifact revisions. Existing repository license files are unchanged by this addition. The simulation artifacts remain unchanged.
Authors: Dayi Dong, Maulik Bhatt, Aayushi Shrivastava, Lasse Peters, Negar Mehr.