Datasets:
File size: 4,832 Bytes
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"schema_version": 1,
"status": "complete",
"dataset_repo": "OneWorld-AI/RoboMIND2.0-processed",
"audited_revision": "72877243ff25e5f484ea216a1d684b65d1c0d7d0",
"audit_completed_at": "2026-10-23T23:18:05.704283+00:00",
"episodes": 134537,
"frames": 42559113,
"camera_frames": 127677339,
"coverage": {
"numeric": {
"expected_episodes": 134537,
"checked_episodes": 134537,
"missing_episodes": 0
},
"video": {
"expected_episodes": 134537,
"checked_episodes": 134537,
"missing_episodes": 0
},
"eef_temporal": {
"expected_episodes": 134537,
"checked_episodes": 134537,
"missing_episodes": 0
}
},
"audit_execution_errors": 0,
"episodes_removed": 0,
"data_payload_modified": false,
"unique_flagged_episodes": 35070,
"unique_review_episodes": 59839,
"flagged_episode_hours": 225.00808369278676,
"flag_counts": {
"command_spikes": 21259,
"state_spikes": 20898,
"tracking_below_70_percent": 15214,
"eef_state_position_isolated_spike": 200,
"eef_state_rotation_isolated_spike": 222,
"state_glitch": 332,
"command_glitch": 110,
"duplicate_recorded_payload": 57,
"video_stall_over_20_percent": 13,
"eef_command_position_isolated_spike": 10,
"eef_command_rotation_isolated_spike": 3,
"black_frames": 9,
"reversed_lag": 2,
"idle_end_trim_over_70_percent": 1
},
"review_counts": {
"native_pose_fk_rotation_disagreement": 38743,
"native_pose_fk_position_disagreement": 23539,
"workspace_outlier": 985
},
"by_robot": {
"AgileX": {
"episodes": 21111,
"unique_threshold_failures": 20294,
"failure_counts": {
"command_spikes": 20227,
"state_spikes": 19892,
"tracking_below_70_percent": 818,
"eef_state_position_isolated_spike": 195,
"eef_state_rotation_isolated_spike": 220,
"state_glitch": 323,
"command_glitch": 102,
"duplicate_recorded_payload": 56,
"eef_command_position_isolated_spike": 6,
"eef_command_rotation_isolated_spike": 1,
"black_frames": 8,
"video_stall_over_20_percent": 11
}
},
"Franka": {
"episodes": 66685,
"unique_threshold_failures": 14747,
"failure_counts": {
"tracking_below_70_percent": 14374,
"command_spikes": 1032,
"state_spikes": 1006,
"command_glitch": 5,
"eef_command_position_isolated_spike": 4,
"eef_state_position_isolated_spike": 4,
"state_glitch": 7,
"reversed_lag": 2,
"eef_command_rotation_isolated_spike": 2,
"eef_state_rotation_isolated_spike": 2,
"idle_end_trim_over_70_percent": 1
}
},
"UR5": {
"episodes": 46741,
"unique_threshold_failures": 29,
"failure_counts": {
"video_stall_over_20_percent": 2,
"tracking_below_70_percent": 22,
"duplicate_recorded_payload": 1,
"command_glitch": 3,
"state_glitch": 2,
"eef_state_position_isolated_spike": 1,
"black_frames": 1
}
}
},
"eef_spike_candidates": {
"state": 232,
"command": 10,
"either": 232
},
"duplicates": {
"groups": 48,
"additional_episode_candidates": 57,
"cross_split_groups": 11
},
"applicability_by_robot": {
"UR5": {
"tracking:scored": 46741,
"native_fk_arm:compared_native_source": 93482
},
"AgileX": {
"tracking:scored": 20561,
"native_fk_arm:no_usable_native_ground_truth": 36222,
"tracking:not_independent_copied_commands": 550,
"native_fk_arm:invalid_native_pose_shape": 1100,
"native_fk_arm:compared_native_source": 4900
},
"Franka": {
"tracking:scored": 66684,
"native_fk_arm:compared_native_source": 133370,
"tracking:insufficient_command_motion": 1
}
},
"black_camera_frames": {
"UR5": 3,
"AgileX": 60,
"Franka": 0
},
"methods": [
"audit/methods/joint_video.json",
"audit/methods/eef_temporal.json",
"audit/methods/workspace_bounds.json"
],
"interpretation": "Threshold flags and review candidates, not an automatic exclusion list or task success/failure labels. Counts overlap. Broad acceleration/jerk flags are heuristic. Native-pose/FK disagreements are review-only. No data payloads were repaired or removed.",
"limitations": [
"Not an exact reproduction of an unspecified S1/S2/S3 implementation.",
"Checks flag candidates for review; valid rare motion, stationary views and tasks can trigger them.",
"Audits retained processed frames; anomalies exclusively in source frames dropped during export are out of scope.",
"AgiBot has no independently verified FK model; physical calibration and image/pose reprojection are not certified."
]
}
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