| # 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](USAGE.md) and [release-manifest.json](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. |
|
|
