| --- |
| license: cc-by-4.0 |
| pretty_name: DisAss Raw 30 Hz Robot Disassembly Episodes |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - vla |
| - world-model |
| - world-action-model |
| - robot-learning |
| - manipulation |
| - disassembly |
| --- |
| |
| # DisAss: raw 30 Hz robot disassembly episodes |
|
|
| DisAss is a curated release of raw dual-camera robot manipulation episodes for |
| seven computer-component disassembly cases. It contains exactly 50 episodes per |
| case (350 total) selected from a frozen accepted corpus. Every episode is kept |
| in its original SELF-VLA Common V2 representation and packaged as one ZIP. |
|
|
| This is raw acquisition data, not a ready-made 10 Hz, LeRobot, RLDS, or |
| model-specific export. It is intended as source material for end-to-end VLA, |
| world-model, world-action-model, and related robot-learning pipelines whose |
| authors define and validate their own temporal segmentation, actions, splits, |
| and normalization. |
|
|
| ## Contents |
|
|
| | Case | Episodes | Raw frames | Corrected episodes | Collection sessions | |
| |---|---:|---:|---:|---:| |
| | `connector` | 50 | 37,550 | 1 | 19 | |
| | `cpu` | 50 | 90,227 | 20 | 13 | |
| | `cpu_fan` | 50 | 37,002 | 1 | 14 | |
| | `graphic_card` | 50 | 56,744 | 1 | 17 | |
| | `hdd` | 50 | 53,255 | 0 | 15 | |
| | `ram` | 50 | 34,387 | 1 | 17 | |
| | `ssd` | 50 | 54,692 | 1 | 11 | |
| | **Total** | **350** | **363,857** | **25** | — | |
|
|
| `hdd_limited` and `ssd_limited` are deliberately excluded. The frozen source |
| corpus contains only 29 and 2 accepted episodes for those limited-clearance |
| variants, respectively, so they cannot meet the 50-episode quota and are not |
| silently merged into canonical HDD/SSD. |
|
|
| Exact archive sizes, SHA-256 values, episode/session UUIDs, frame counts, and |
| skill/config hashes are in [`manifests/episodes.jsonl`](manifests/episodes.jsonl). |
|
|
| ## How the data were collected |
|
|
| Each episode follows the SELF-VLA Common V2 acquisition contract: |
|
|
| 1. While the robot is parked, the operator selects and authenticates the |
| component, physical instance, collection intent, skill CSV, and execution |
| configuration for that episode. |
| 2. L25 arms recording. Joystick motion begins a role-neutral `teleop` interval. |
| 3. R34 starts the authenticated procedural skill from the current TCP. CPU can |
| instead use R38 to move to an operator-captured start reference, dwell 0.5 s, |
| and then begin its skill. |
| 4. Procedural motion is recorded as `skill`. An evidence-backed intervention |
| may add human `correction` and linked procedural `skill_resume` intervals. |
| 5. The episode is validated and atomically committed before HOME. HOME/camera |
| lifecycle receipts, the physical outcome, and an independent data-quality |
| decision are then attached to metadata. |
|
|
| Saved frames are driven by synchronized camera arrivals: a frame is recorded |
| only when both base and wrist cameras advance, at the slower stream rate |
| (normally 30 Hz). The robot state is aligned to the camera-pair reference time. |
| Teleoperation/control receipts run at 200 Hz and are stored separately; 200 Hz |
| is not the saved image-frame rate. |
|
|
| ## Repository layout |
|
|
| ```text |
| README.md |
| DATA_STRUCTURE.md |
| manifests/ |
| episodes.jsonl |
| episodes.csv |
| summary.json |
| source_authorities.json |
| checksums/ |
| SHA256SUMS |
| data/ |
| connector/*.zip |
| cpu/*.zip |
| cpu_fan/*.zip |
| graphic_card/*.zip |
| hdd/*.zip |
| ram/*.zip |
| ssd/*.zip |
| tools/ |
| inspect_episode.py |
| ``` |
|
|
| Each component directory contains 50 ZIPs. Each ZIP contains one unchanged raw |
| episode directory: |
|
|
| ```text |
| episode_YYYYMMDD_HHMMSS_microseconds/ |
| episode_meta.json |
| frame_0000.pkl |
| frame_0001.pkl |
| ... |
| control_trace.jsonl |
| causal_events.jsonl |
| ``` |
|
|
| See [`DATA_STRUCTURE.md`](DATA_STRUCTURE.md) for the field-level contract, |
| phase/action semantics, units, and downstream conversion guidance. |
|
|
| ## Download |
|
|
| Download the small documentation and manifests: |
|
|
| ```bash |
| hf download ChangChrisLiu/DisAss \ |
| --repo-type dataset \ |
| --exclude "data/**" \ |
| --local-dir DisAss |
| ``` |
|
|
| Download one case: |
|
|
| ```bash |
| hf download ChangChrisLiu/DisAss \ |
| --repo-type dataset \ |
| --include "data/ram/*.zip" \ |
| --include "manifests/**" \ |
| --include "checksums/**" \ |
| --include "tools/**" \ |
| --local-dir DisAss |
| ``` |
|
|
| Download a named episode by using its `archive_path` from the manifest: |
|
|
| ```bash |
| hf download ChangChrisLiu/DisAss \ |
| data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip \ |
| --repo-type dataset \ |
| --local-dir DisAss |
| ``` |
|
|
| ## Inspect and extract |
|
|
| Metadata inspection does not load pickle frames: |
|
|
| ```bash |
| python DisAss/tools/inspect_episode.py \ |
| DisAss/data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip |
| ``` |
|
|
| Explicitly inspect one trusted frame's keys, types, shapes, and dtypes: |
|
|
| ```bash |
| python DisAss/tools/inspect_episode.py \ |
| DisAss/data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip \ |
| --frame 0 |
| ``` |
|
|
| Safely extract after validating all member paths and types: |
|
|
| ```bash |
| python DisAss/tools/inspect_episode.py \ |
| DisAss/data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip \ |
| --extract extracted |
| ``` |
|
|
| Python pickle can execute code. Only unpickle data obtained from this trusted |
| repository, and do so in a controlled environment. The inspection tool loads a |
| pickle only when `--frame` is explicitly supplied. |
|
|
| ## Selection policy |
|
|
| Candidates had to be canonical, operator-accepted, `fps=30`, complete on disk, |
| and strict passes for schema, image/robot stream, 10 Hz *derivability*, robot |
| state variation, and TCP/joint integrity. The historical field |
| `robot_10hz_ok` means the 30 Hz raw feedback can safely support a derived 10 Hz |
| representation; it does not mean these source files are 10 Hz. |
|
|
| Within each case, selection is deterministic from seed |
| `DisAss-raw-v1-2026-08-28`. It preserves a proportional correction stratum |
| (at least one when available) and samples round-robin across collection |
| sessions using SHA-256 rankings. Full rules and source-ledger hashes are in |
| [`manifests/source_authorities.json`](manifests/source_authorities.json). |
|
|
| ## Important use boundaries |
|
|
| - No train/validation/test split is assigned. Downstream users should prevent |
| leakage across collection sessions and any other grouping appropriate to |
| their experiment. |
| - Segment at episode, phase, control-owner, timing, and repair boundaries before |
| downsampling or constructing next-step actions. |
| - `commanded_action` is a human teleop/correction receipt. It is null on |
| procedural `skill` and `skill_resume` frames; null does not mean a zero action. |
| - Robot state is observed state. A control receipt is an attempted/issued |
| command. Do not treat the two as interchangeable targets. |
| - Outcome, collection intent, correction decisions, and data acceptance are |
| episode-level provenance. They are not automatically valid predictor inputs. |
| - This release provides source evidence, not rewards, returns, policy targets, |
| graph labels, future outcomes, or Action-Expert proposals. |
|
|
| ## Integrity and license |
|
|
| Verify downloaded archives from the repository root: |
|
|
| ```bash |
| sha256sum -c checksums/SHA256SUMS |
| ``` |
|
|
| The license metadata already present in this Hugging Face repository is |
| retained: CC BY 4.0. |
|
|
