FlappyHimself/reorientation-artifacts

Reorientation artifacts

Shared Stage1 human/object trajectories; robot-specific Stage2, teacher and BC artifacts. Raw recordings and their reproduction scripts stay in restructured_reorientation_raw_data.

Layout

objects/<object>/
  assets/<version>/
  trajectories/<take>/
    manifest.json
    stage1/<release>/             # NPZ, full preview, QA, manifest
    sharpa/stage2/<release>/      # H5 interfaces, video, portable handoff
    sharpa/stage3/<run-id>/       # checkpoints, card, historical evaluation
  stage4/sharpa/
    datasets/<dataset-id>/        # data archives, cards, split/normalization locations
    students/<run-id>/            # available metadata/evidence; weights only when present
calibrations/<version>/           # shared hand shape, offset and per-take synchronization
robots/sharpa/<version>/          # available hand/arm asset snapshots
catalog.json                     # new object_layout_v1 plus untouched legacy index fields

The same hierarchy supports wuji2/ when verified WUJI2 artifacts become available. No WUJI2 checkpoint or trajectory is inferred from inherited schema names.

Download one Stage1 release

python -m pip install huggingface_hub
hf download FlappyHimself/reorientation-artifacts --repo-type dataset \
  --include 'objects/marker/trajectories/marker_004/stage1/raw-to-stage1-20261008-v1/*' \
            'objects/marker/assets/raw-to-stage1-20261008-v1/*' \
            'calibrations/raw_to_stage1_v1/*' \
  --local-dir reorientation-artifacts

For immutable downloads, add --revision <full-HF-commit>. Paths inside new manifests are repository-root-relative. Resolve them under the download directory and verify their SHA256 (or explicitly named Git blob SHA1 for preserved legacy metadata). Source paths inside historical cards/receipts remain provenance only.

Current coverage and boundaries

• Marker/scissors: 26 cold-reproduced Stage1 NPZs, 30,757 frames; exact-mesh, complete front/side/top videos, versioned offset/hand shape/object snapshots. Sixteen synchronization PASS and ten HOLD are retained. The hand is a fixed MANUS rig with MANO topology, not an interchangeable MANO beta/pose model.
• Phone: 20 preserved Stage1 payloads with freshly generated full Stage1 previews, 20 Sharpa Stage2 references, ten selected teacher checkpoints, ten existing BC archives and the DATA046 derived view. Per-take legacy sync verdicts remain unchanged; legacy calibration source-file hashes are retained where the original files are not bundled.
• Missing evidence stays missing: phone_15 has no located selected teacher. Ten per-phone GRU student registrations have no bundled checkpoint. Existing UR10e evaluation evidence is not a substitute for missing checkpoint bytes. No stand-alone frozen teacher config is fabricated from a card.
• BC normalization and split members remain inside their original archives; dataset_layout.json states their locations. phone_07 and phone_18 BC producers differ from selected teachers, and DATA018's historical readiness conflict is preserved. Stage2's native trajectory.h5 is an alias of canonical_retarget.h5, not an additional demonstration. UR10e bound releases retain explicit pointers to their complete original bundles.

All old paths remain available, including trajectories/, shared/, collections/, objects/phone/releases/, objects/phone/evaluations/, proposal/ and prior provenance. New indexes do not rewrite old cards or claim new policy evaluations. See object catalog and migration manifest.

The original README/catalog are preserved under provenance/object_layout_v1/. HF appended LFS rules for new paths only; the original .gitattributes is also archived there. Existing data payloads and original LFS rules are unchanged. Original licenses remain applicable; no additional downstream rights are granted. Structural checks, byte preservation and kinematic videos do not establish physical calibration, contact accuracy or training readiness.