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LICENSE.md

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+© 2026 RLWRLD Inc., licensed under CC BY 4.0
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+

README.md

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+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- dexterous-manipulation
+- bimanual
+- mobile-manipulation
+configs:
+- config_name: multitask
+  data_files: "multitask/data/*/*.parquet"
+  default: true
+- config_name: db_r1
+  data_files: "db_r1/data/*/*.parquet"
+- config_name: db_r2
+  data_files: "db_r2/data/*/*.parquet"
+- config_name: db_r3
+  data_files: "db_r3/data/*/*.parquet"
+- config_name: db_l1
+  data_files: "db_l1/data/*/*.parquet"
+- config_name: db_l2
+  data_files: "db_l2/data/*/*.parquet"
+- config_name: db_l3
+  data_files: "db_l3/data/*/*.parquet"
+- config_name: db_l4
+  data_files: "db_l4/data/*/*.parquet"
+- config_name: db_m1
+  data_files: "db_m1/data/*/*.parquet"
+- config_name: db_m2
+  data_files: "db_m2/data/*/*.parquet"
+- config_name: db_m3
+  data_files: "db_m3/data/*/*.parquet"
+- config_name: db_m4
+  data_files: "db_m4/data/*/*.parquet"
+- config_name: db_m5
+  data_files: "db_m5/data/*/*.parquet"
+- config_name: db_h1
+  data_files: "db_h1/data/*/*.parquet"
+- config_name: db_h2
+  data_files: "db_h2/data/*/*.parquet"
+- config_name: db_h3
+  data_files: "db_h3/data/*/*.parquet"
+---
+
+# DexBench datasets
+
+Demonstrations for the 15 DexBench tasks: 240 episodes per task, 3,600 episodes and 2,947,227 frames in all.
+Robot: RB-Y1 mobile manipulator with two WUJI dexterous hands (66 joints).
+
+Each task folder is one LeRobot v3.0 dataset with its own README; `multitask/` holds all 15 tasks in one
+dataset (3,600 episodes, `task_index` 0–29, one instruction per episode).
+
+| Folder | Task | Name | Episodes | Frames |
+|---|---|---|---|---|
+| `db_r1/` | DB-R1 | Pick fruit from a display | 240 | 51,239 |
+| `db_r2/` | DB-R2 | Retrieve a drink from a refrigerator | 240 | 120,813 |
+| `db_r3/` | DB-R3 | Place a box in a shelf slot | 240 | 252,802 |
+| `db_l1/` | DB-L1 | Pick polybags from a conveyor | 240 | 187,312 |
+| `db_l2/` | DB-L2 | Lift a package onto a conveyor | 240 | 79,158 |
+| `db_l3/` | DB-L3 | Pack an invoice | 240 | 65,367 |
+| `db_l4/` | DB-L4 | Deliver a parcel barcode-up | 240 | 308,559 |
+| `db_m1/` | DB-M1 | Insert a detergent drawer | 240 | 354,546 |
+| `db_m2/` | DB-M2 | Insert a connector | 240 | 240,697 |
+| `db_m3/` | DB-M3 | Fasten bolts with a power driver | 240 | 247,762 |
+| `db_m4/` | DB-M4 | Hand-start a leveling leg | 240 | 403,558 |
+| `db_m5/` | DB-M5 | Place a part in a kit box | 240 | 103,610 |
+| `db_h1/` | DB-H1 | Stack plates or bowls | 240 | 187,019 |
+| `db_h2/` | DB-H2 | Lift and pour | 240 | 301,434 |
+| `db_h3/` | DB-H3 | Extract one utensil | 240 | 43,351 |
+| `multitask/` | all | all 15 tasks | 3,600 | 2,947,227 |
+
+## Contents of every dataset
+
+- Cameras: `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps.
+- State / action: `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`.
+
+## Download
+
+```bash
+hf download RLWRLD/DexBench-datasets --repo-type dataset --include "db_r1/*" "tools/*" --local-dir dexbench
+```
+
+## Load (LeRobot v3.0; tested with lerobot 0.4.4)
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+ds = LeRobotDataset("db_r1", root="dexbench/db_r1")
+```
+
+## Convert to LeRobot v2.1 (tested with lerobot 0.3.3 reading the result)
+
+```bash
+pip install "av>=14" numpy pandas pyarrow
+cd dexbench
+python tools/convert_lerobot_v30_to_v21.py db_r1 db_r1_v21 --expect-episodes 240 --expect-frames 51239
+```
+
+The conversion is lossless: parquet rows are copied unchanged, each episode's video is cut out of the
+concatenated file without re-encoding and checked frame by frame, and `meta/stats.json`,
+`meta/episodes_stats.jsonl`, `meta/episodes.jsonl` and `meta/tasks.jsonl` are written for v2.1 readers.
+Each folder's README gives the command with its episode and frame counts.
+
+## Integrity
+
+Every dataset folder has a `SHA256SUMS` over its files: `cd db_r1 && sha256sum -c SHA256SUMS`.
+
+## License
+
+© 2026 RLWRLD Inc., licensed under CC BY 4.0. See `LICENSE.md`.

db_h1/README.md

@@ -0,0 +1,21 @@
+# DB-H1 · Stack plates or bowls
+
+The robot lifts a stack of plates or bowls from a banquet table and seats it on the stack on a serving cart.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 187,019 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_h1 db_h1_v21 --expect-episodes 240 --expect-frames 187019` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Lift the stack of plates from the banquet table and seat it on the serving cart stack.
+- `1`: Lift the stack of bowls from the banquet table and seat it on the serving cart stack.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_h1/SHA256SUMS

@@ -0,0 +1,41 @@
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+e93b4950d83d372be188428b01f00dc48eb8517451e104682a75b71c99fcfcdf  meta/info.json
+97003216409a2519923cac24596df9c920a71831eeaa24e9ac6fdfe43f9f09fe  meta/modality.json
+8220a020c2e9290176eda975b71f98024cc425f30a47c416f56a9d70d88a4f31  meta/stats.json
+3eb6e01f913d9d51f5f41b94313e8da41688b1beb6ba3214d082beb20ba1bd38  meta/tasks.parquet
+0b9af64a305e5b67c33c665f0909bcd328c37354d365d7f0670aa60f17efc344  videos/observation.images.camera_ego_left/chunk-000/file-000.mp4
+fa368f903fe78df4afd38f566520e1e0e137ef4d9222afa77c786194fd67ded9  videos/observation.images.camera_ego_left/chunk-000/file-001.mp4
+2849bdb789ab05e7efdcdc43396a0c1b632111554c593d381a7f36588e008318  videos/observation.images.camera_ego_left/chunk-000/file-002.mp4
+dc2e86049babf49d01e95cdb745f6e6cb07866097aa6918946d27570fc7516ad  videos/observation.images.camera_ego_left/chunk-000/file-003.mp4
+dddc0060568259f740d431ae8b5d5adf7fdc701927f63a848b359d745ae7c9b1  videos/observation.images.camera_ego_left/chunk-000/file-004.mp4
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db_h2/README.md

@@ -0,0 +1,20 @@
+# DB-H2 · Lift and pour
+
+The robot lifts a jug with its right hand and pours its 100 mL of water into a wine glass.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 301,434 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_h2 db_h2_v21 --expect-episodes 240 --expect-frames 301434` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Lift the jug with the right hand and pour its 100 mL of water into the wine glass.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_h2/SHA256SUMS

@@ -0,0 +1,23 @@
+3e76cfa616f3d1814742f2b21ffb8127dd762a56e81cf7787a229025e5b1addd  README.md
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+085de88b061cac16ee4230ed0dac390b5ec2f746febbc39a08594909b1f22e01  meta/stats.json
+0bd1186ead5abdad37c86b39ad2b635f5dcf2eb3a487505828d39ba025937aa0  meta/tasks.parquet
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db_h2/meta/info.json

@@ -0,0 +1,385 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "rby1m_wujihand2",
+    "total_episodes": 240,
+    "total_frames": 301434,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:240"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.joint_velocity": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.images.camera_ego_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_ego_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ],
+            "fps": 30
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}

db_h2/meta/modality.json

@@ -0,0 +1,88 @@
+{
+    "state": {
+        "wheel_joints": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.joint_position"
+        },
+        "torso_joints": {
+            "start": 4,
+            "end": 10,
+            "original_key": "observation.joint_position"
+        },
+        "right_arm_joints": {
+            "start": 10,
+            "end": 17,
+            "original_key": "observation.joint_position"
+        },
+        "right_hand_joints": {
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db_h3/README.md

@@ -0,0 +1,22 @@
+# DB-H3 · Extract one utensil
+
+The robot holds a bundle of utensils in its left hand and places the named one in a bin, keeping the others in its left hand.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 43,351 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_h3 db_h3_v21 --expect-episodes 240 --expect-frames 43351` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Take the fork from your left hand and place it in the bin. Keep the other utensils in your left hand.
+- `1`: Take the table knife from your left hand and place it in the bin. Keep the other utensils in your left hand.
+- `2`: Take the spoon from your left hand and place it in the bin. Keep the other utensils in your left hand.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_h3/SHA256SUMS

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db_l1/README.md

@@ -0,0 +1,20 @@
+# DB-L1 · Pick polybags from a conveyor
+
+The robot picks every polybag off a moving conveyor and puts it in a tote, letting the boxes pass.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 187,312 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_l1 db_l1_v21 --expect-episodes 240 --expect-frames 187312` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick every polybag off the conveyor and put it in the tote; let the boxes pass.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_l1/SHA256SUMS

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db_l2/README.md

@@ -0,0 +1,20 @@
+# DB-L2 · Lift a package onto a conveyor
+
+The robot lifts a package off a cage with both hands and places it on a conveyor.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 79,158 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_l2 db_l2_v21 --expect-episodes 240 --expect-frames 79158` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Lift the package off the cage with both hands and place it on the conveyor.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_l2/SHA256SUMS

@@ -0,0 +1,19 @@
+907b917dc348a56772c02e2d7332e3a96db4082ac55babf64c2a56057d85887b  README.md
+d25e542ae7f81c06ca6ddbc618781a4bdaea4c1b7274bc4a3701eb645bc744ae  data/chunk-000/file-000.parquet
+9e4db722a232e72fa7694fb025d5f34dc89f23cd5204494319d6f90c034b7d25  meta/episodes/chunk-000/file-000.parquet
+db9516b0e227c33dec7bf3d9e7df17f617f67cc4e4fb8a1931439d060372542e  meta/info.json
+97003216409a2519923cac24596df9c920a71831eeaa24e9ac6fdfe43f9f09fe  meta/modality.json
+57eaa2bd22ff729ce0267c5c306f917364d41b7010c82c98ba4a2b220810e9ca  meta/stats.json
+6d2c795228457e741afb7e251f9ef1283cfe0cc454dc7ed4c99e78af90f54103  meta/tasks.parquet
+1d1f6ddb160164d240db2f7fea221afa416276b93febdfafdf81f0b2c3598f01  videos/observation.images.camera_ego_left/chunk-000/file-000.mp4
+59f357673b399d0b5412825e5702aa59592dcfa27278fada734f72cb4deb2a4f  videos/observation.images.camera_ego_left/chunk-000/file-001.mp4
+eb9612f33b6b4b9a1f15a1d0682ca18a2025605fb5075eb17a5d1d7b17c039c3  videos/observation.images.camera_ego_left/chunk-000/file-002.mp4
+5597eef006513201fc9bcdb7703141a5b665b18997c0d9124892e58e774bb319  videos/observation.images.camera_ego_left/chunk-000/file-003.mp4
+a5e92fe2e5db09977145cbabed4076d00be961afef5b8794ccb90e614a6512e8  videos/observation.images.camera_ego_right/chunk-000/file-000.mp4
+a1d38a231e840840d0a2353ae63232d53c368a28382a23224aa66b64e96e9634  videos/observation.images.camera_ego_right/chunk-000/file-001.mp4
+00b208a06a0bc4cfcbf8d1003f044c078d2444ac79e1e30b5eeda9bea7b3be0c  videos/observation.images.camera_ego_right/chunk-000/file-002.mp4
+5e19506864d6a76a91abb5f0ab7c8881f0c82141e621ed14214b66de27b69e19  videos/observation.images.camera_ego_right/chunk-000/file-003.mp4
+f062964ea946313402333c6edc9a35868521fb358ad58dd38f83bf02c352fbcf  videos/observation.images.camera_wrist_left/chunk-000/file-000.mp4
+8afb14f6127b70d937405f45efd39dc66abdb631210a08c6eba53053ab9821fa  videos/observation.images.camera_wrist_left/chunk-000/file-001.mp4
+b4b72ce24a96b85191907e183b27665dfb2908ce4dd53390ec4f09a6d5cb8250  videos/observation.images.camera_wrist_right/chunk-000/file-000.mp4
+a48558b0a1b728bfc17f05fd57795195c778baa8d5a8fdc0c176c2b83880fe5d  videos/observation.images.camera_wrist_right/chunk-000/file-001.mp4

db_l2/meta/info.json

@@ -0,0 +1,385 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "rby1m_wujihand2",
+    "total_episodes": 240,
+    "total_frames": 79158,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:240"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.joint_velocity": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.images.camera_ego_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_ego_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ],
+            "fps": 30
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}

db_l2/meta/modality.json

@@ -0,0 +1,88 @@
+{
+    "state": {
+        "wheel_joints": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.joint_position"
+        },
+        "torso_joints": {
+            "start": 4,
+            "end": 10,
+            "original_key": "observation.joint_position"
+        },
+        "right_arm_joints": {
+            "start": 10,
+            "end": 17,
+            "original_key": "observation.joint_position"
+        },
+        "right_hand_joints": {
+            "start": 17,
+            "end": 37,
+            "original_key": "observation.joint_position"
+        },
+        "left_arm_joints": {
+            "start": 37,
+            "end": 44,
+            "original_key": "observation.joint_position"
+        },
+        "left_hand_joints": {
+            "start": 44,
+            "end": 64,
+            "original_key": "observation.joint_position"
+        },
+        "neck_joints": {
+            "start": 64,
+            "end": 66,
+            "original_key": "observation.joint_position"
+        }
+    },
+    "action": {
+        "wheel_joints": {
+            "start": 0,
+            "end": 4
+        },
+        "torso_joints": {
+            "start": 4,
+            "end": 10
+        },
+        "right_arm_joints": {
+            "start": 10,
+            "end": 17
+        },
+        "right_hand_joints": {
+            "start": 17,
+            "end": 37
+        },
+        "left_arm_joints": {
+            "start": 37,
+            "end": 44
+        },
+        "left_hand_joints": {
+            "start": 44,
+            "end": 64
+        },
+        "neck_joints": {
+            "start": 64,
+            "end": 66
+        }
+    },
+    "video": {
+        "camera_ego_left": {
+            "original_key": "observation.images.camera_ego_left"
+        },
+        "camera_ego_right": {
+            "original_key": "observation.images.camera_ego_right"
+        },
+        "camera_wrist_left": {
+            "original_key": "observation.images.camera_wrist_left"
+        },
+        "camera_wrist_right": {
+            "original_key": "observation.images.camera_wrist_right"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

db_l2/meta/stats.json

@@ -0,0 +1,2013 @@
+{
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+}

db_l3/README.md

@@ -0,0 +1,20 @@
+# DB-L3 · Pack an invoice
+
+The robot picks up an invoice sheet and puts it in a carton.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 65,367 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_l3 db_l3_v21 --expect-episodes 240 --expect-frames 65367` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick up the invoice sheet and put it in the carton.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_l3/SHA256SUMS

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db_l4/README.md

@@ -0,0 +1,20 @@
+# DB-L4 · Deliver a parcel barcode-up
+
+The robot brings a parcel over, turns it barcode-up and places it on a conveyor.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 308,559 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_l4 db_l4_v21 --expect-episodes 240 --expect-frames 308559` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Bring the package over, orient barcode up, then place it on the conveyor.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_l4/SHA256SUMS

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db_m1/README.md

@@ -0,0 +1,20 @@
+# DB-M1 · Insert a detergent drawer
+
+The robot picks up a detergent drawer from a workstation and inserts it into the washer slot until it is seated.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 354,546 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_m1 db_m1_v21 --expect-episodes 240 --expect-frames 354546` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick up the detergent drawer from the workstation and insert it into the washer's slot until it is seated.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_m1/SHA256SUMS

@@ -0,0 +1,64 @@
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db_m1/meta/info.json

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db_m1/meta/modality.json

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db_m2/README.md

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+# DB-M2 · Insert a connector
+
+The robot picks up a connector, inserts it into its matching socket, presses it fully into place and releases it.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 240,697 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_m2 db_m2_v21 --expect-episodes 240 --expect-frames 240697` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick up the connector, insert it into its matching socket, press it fully into place, and release it.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_m2/SHA256SUMS

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db_m3/README.md

@@ -0,0 +1,20 @@
+# DB-M3 · Fasten bolts with a power driver
+
+The robot uses a power driver to fasten the named bolts.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 247,762 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_m3 db_m3_v21 --expect-episodes 240 --expect-frames 247762` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Use the power driver to fasten B1, B2. Other CAD bolts are excluded.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_m3/SHA256SUMS

@@ -0,0 +1,54 @@
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db_m3/meta/info.json

@@ -0,0 +1,385 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "rby1m_wujihand2",
+    "total_episodes": 240,
+    "total_frames": 247762,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:240"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.joint_velocity": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.images.camera_ego_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_ego_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ],
+            "fps": 30
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}

db_m3/meta/modality.json

@@ -0,0 +1,88 @@
+{
+    "state": {
+        "wheel_joints": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.joint_position"
+        },
+        "torso_joints": {
+            "start": 4,
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db_m4/README.md

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+# DB-M4 · Hand-start a leveling leg
+
+The robot picks up a leveling leg with its left hand, puts its stud on the free bracket hole of a cabinet base and turns it in by hand until the thread has taken it.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 403,558 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_m4 db_m4_v21 --expect-episodes 240 --expect-frames 403558` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick up the leveling leg from its holder with your left hand, put its stud on the free bracket hole of the base cabinet on your left and turn it in by hand until the thread has taken it.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_m4/SHA256SUMS

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db_m5/README.md

@@ -0,0 +1,24 @@
+# DB-M5 · Place a part in a kit box
+
+The robot picks the named part from a parts bin and places it in the empty compartment of a kit box before the box reaches the end of a moving conveyor.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 103,610 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_m5 db_m5_v21 --expect-episodes 240 --expect-frames 103610` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick one 6206 ball bearing from the yellow parts bin and place it in the empty compartment of the kit box before the box reaches the end of the moving conveyor.
+- `1`: Pick one M24 bolt from the yellow parts bin and place it in the empty compartment of the kit box before the box reaches the end of the moving conveyor.
+- `2`: Pick one 50A pipe elbow from the yellow parts bin and place it in the empty compartment of the kit box before the box reaches the end of the moving conveyor.
+- `3`: Pick one POM conveyor roller from the yellow parts bin and place it in the empty compartment of the kit box before the box reaches the end of the moving conveyor.
+- `4`: Pick one NEMA 23 stepper motor from the yellow parts bin and place it in the empty compartment of the kit box before the box reaches the end of the moving conveyor.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_m5/SHA256SUMS

@@ -0,0 +1,24 @@
+7b50b818a6ec11200e4f50c9d6fbbb061e55d650864f71371f50250e052db9e6  README.md
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+97003216409a2519923cac24596df9c920a71831eeaa24e9ac6fdfe43f9f09fe  meta/modality.json
+cc4fd5f740ea86a9a1e9a2ab03726a6a2ccbd24154b8d11bf670c6531ac1807e  meta/stats.json
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+1e8fff3b84257f53c1cbe444c065b5b13ad6fe2c33f1bc3d0cbd2b5192d51537  videos/observation.images.camera_ego_left/chunk-000/file-003.mp4
+529f3bbd7bd0dee55be3b92294266f418289690f80e44d68d25b2ae04035330e  videos/observation.images.camera_ego_right/chunk-000/file-000.mp4
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+952fdd0955bfd1393cd9bddbd1e3b708d7e1e5c797e2a75d39ab19a7a86cdec0  videos/observation.images.camera_ego_right/chunk-000/file-002.mp4
+59bfb8e071608404ed66a7a02115bab3c4121812a36d7866fb79b4553c3f56dd  videos/observation.images.camera_ego_right/chunk-000/file-003.mp4
+32a10e61486b1573de5f05a35a6f2633bc2925d9bbad8cfa525b68629569e2f6  videos/observation.images.camera_wrist_left/chunk-000/file-000.mp4
+e0294bc38cc6bdeef3f0200a74c25d4e6fc3006bd8543073f25ebd5627d8128f  videos/observation.images.camera_wrist_left/chunk-000/file-001.mp4
+45569ba04cc51e55d018bdba2116883dc24b29d8f2b4c8a4e71d2eb9f78c5b6d  videos/observation.images.camera_wrist_left/chunk-000/file-002.mp4
+6086e3a39f4cf40b48ba61453d1f787c22b893376222bac552b17123e10156de  videos/observation.images.camera_wrist_left/chunk-000/file-003.mp4
+7ba83da4943bab25463727df1d76558c8d15d3eb8d55397734e4ebc9c75a8192  videos/observation.images.camera_wrist_left/chunk-000/file-004.mp4
+34d3a0f500f249412dd2913273db7dfc52e94967b513a48161bbcfef964ef8e0  videos/observation.images.camera_wrist_right/chunk-000/file-000.mp4
+a06d5e21d8c0705a9d03cac3ef705a7403097f2697af8a9680995c3d9e6a070e  videos/observation.images.camera_wrist_right/chunk-000/file-001.mp4
+f350c525b7932493e1419df57c6c7356d6a58cca6f9e292841ac20dc80a2cb73  videos/observation.images.camera_wrist_right/chunk-000/file-002.mp4

db_m5/meta/info.json

@@ -0,0 +1,385 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "rby1m_wujihand2",
+    "total_episodes": 240,
+    "total_frames": 103610,
+    "total_tasks": 5,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:240"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.joint_velocity": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                66
+            ],
+            "names": [
+                "wheel_fr",
+                "wheel_fl",
+                "wheel_rr",
+                "wheel_rl",
+                "torso_0",
+                "torso_1",
+                "torso_2",
+                "torso_3",
+                "torso_4",
+                "torso_5",
+                "right_arm_0",
+                "right_arm_1",
+                "right_arm_2",
+                "right_arm_3",
+                "right_arm_4",
+                "right_arm_5",
+                "right_arm_6",
+                "right_thumb_cmc_flex",
+                "right_thumb_cmc_abd",
+                "right_thumb_mcp",
+                "right_thumb_ip",
+                "right_index_finger_mcp_flex",
+                "right_index_finger_mcp_abd",
+                "right_index_finger_pip",
+                "right_index_finger_dip",
+                "right_middle_finger_mcp_flex",
+                "right_middle_finger_mcp_abd",
+                "right_middle_finger_pip",
+                "right_middle_finger_dip",
+                "right_ring_finger_mcp_flex",
+                "right_ring_finger_mcp_abd",
+                "right_ring_finger_pip",
+                "right_ring_finger_dip",
+                "right_pinky_mcp_flex",
+                "right_pinky_mcp_abd",
+                "right_pinky_pip",
+                "right_pinky_dip",
+                "left_arm_0",
+                "left_arm_1",
+                "left_arm_2",
+                "left_arm_3",
+                "left_arm_4",
+                "left_arm_5",
+                "left_arm_6",
+                "left_thumb_cmc_flex",
+                "left_thumb_cmc_abd",
+                "left_thumb_mcp",
+                "left_thumb_ip",
+                "left_index_finger_mcp_flex",
+                "left_index_finger_mcp_abd",
+                "left_index_finger_pip",
+                "left_index_finger_dip",
+                "left_middle_finger_mcp_flex",
+                "left_middle_finger_mcp_abd",
+                "left_middle_finger_pip",
+                "left_middle_finger_dip",
+                "left_ring_finger_mcp_flex",
+                "left_ring_finger_mcp_abd",
+                "left_ring_finger_pip",
+                "left_ring_finger_dip",
+                "left_pinky_mcp_flex",
+                "left_pinky_mcp_abd",
+                "left_pinky_pip",
+                "left_pinky_dip",
+                "head_0",
+                "head_1"
+            ],
+            "fps": 30
+        },
+        "observation.images.camera_ego_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_ego_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_wrist_right": {
+            "dtype": "video",
+            "shape": [
+                3,
+                360,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30.0,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
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+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
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+        "episode_index": {
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+            "names": null,
+            "fps": 30
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": [
+                "done"
+            ],
+            "fps": 30
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}

db_m5/meta/modality.json

@@ -0,0 +1,88 @@
+{
+    "state": {
+        "wheel_joints": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.joint_position"
+        },
+        "torso_joints": {
+            "start": 4,
+            "end": 10,
+            "original_key": "observation.joint_position"
+        },
+        "right_arm_joints": {
+            "start": 10,
+            "end": 17,
+            "original_key": "observation.joint_position"
+        },
+        "right_hand_joints": {
+            "start": 17,
+            "end": 37,
+            "original_key": "observation.joint_position"
+        },
+        "left_arm_joints": {
+            "start": 37,
+            "end": 44,
+            "original_key": "observation.joint_position"
+        },
+        "left_hand_joints": {
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+            "end": 64,
+            "original_key": "observation.joint_position"
+        },
+        "neck_joints": {
+            "start": 64,
+            "end": 66,
+            "original_key": "observation.joint_position"
+        }
+    },
+    "action": {
+        "wheel_joints": {
+            "start": 0,
+            "end": 4
+        },
+        "torso_joints": {
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+            "end": 10
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+        "right_arm_joints": {
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+        "right_hand_joints": {
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+            "end": 37
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+        "left_arm_joints": {
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+            "end": 44
+        },
+        "left_hand_joints": {
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+            "end": 64
+        },
+        "neck_joints": {
+            "start": 64,
+            "end": 66
+        }
+    },
+    "video": {
+        "camera_ego_left": {
+            "original_key": "observation.images.camera_ego_left"
+        },
+        "camera_ego_right": {
+            "original_key": "observation.images.camera_ego_right"
+        },
+        "camera_wrist_left": {
+            "original_key": "observation.images.camera_wrist_left"
+        },
+        "camera_wrist_right": {
+            "original_key": "observation.images.camera_wrist_right"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

db_m5/meta/stats.json

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+            0.998496589064598
+        ]
+    }
+}

db_r1/README.md

@@ -0,0 +1,20 @@
+# DB-R1 · Pick fruit from a display
+
+The robot picks one fruit from a produce display in a retail store and places it in a basket, leaving the other fruit on the tray.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 51,239 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_r1 db_r1_v21 --expect-episodes 240 --expect-frames 51239` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Pick one fruit from the produce display and place it in the basket. Keep all other fruit on the tray.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_r1/SHA256SUMS

@@ -0,0 +1,23 @@
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db_r2/README.md

@@ -0,0 +1,25 @@
+# DB-R2 · Retrieve a drink from a refrigerator
+
+The robot takes the named can or bottle from a shelf of an open retail refrigerator and puts it in a basket without disturbing the drinks next to it.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 120,813 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_r2 db_r2_v21 --expect-episodes 240 --expect-frames 120813` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Take the can in the third lane from the left out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.
+- `1`: Take the can in the fourth lane from the left out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.
+- `2`: Take the can in the fifth lane from the left out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.
+- `3`: Take the bottle in the fourth lane from the left out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.
+- `4`: Take the bottle in the third lane from the left out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.
+- `5`: Take the bottle in the fifth lane from the left out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_r2/SHA256SUMS

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db_r3/README.md

@@ -0,0 +1,23 @@
+# DB-R3 · Place a box in a shelf slot
+
+The robot takes the named product box from a raised tote and places it in the empty slot on a retail shelf.
+
+| | |
+|---|---|
+| Episodes | 240 |
+| Frames | 252,802 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py db_r3 db_r3_v21 --expect-episodes 240 --expect-frames 252802` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Instructions (`task_index`: text)
+
+- `0`: Take the red chocolate-stick box from the raised tote and place it in the empty slot on the shelf.
+- `1`: Take the purple cracker pack from the raised tote and place it in the empty slot on the shelf.
+- `2`: Take the red wafer box from the raised tote and place it in the empty slot on the shelf.
+- `3`: Take the red chocolate-pie box from the raised tote and place it in the empty slot on the shelf.
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

db_r3/SHA256SUMS

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multitask/README.md

@@ -0,0 +1,34 @@
+# DexBench multitask · all 15 tasks
+
+The 15 DexBench tasks in one dataset: 240 episodes per task, in the order below. Each episode keeps its own instruction; `meta/tasks` holds the 30 instruction texts.
+
+| Task folder | Task | Name | `task_index` | Frames |
+|---|---|---|---|---|
+| `db_r1` | DB-R1 | Pick fruit from a display | 0 | 51,239 |
+| `db_r2` | DB-R2 | Retrieve a drink from a refrigerator | 1, 2, 3, 4, 5, 6 | 120,813 |
+| `db_r3` | DB-R3 | Place a box in a shelf slot | 7, 8, 9, 10 | 252,802 |
+| `db_l1` | DB-L1 | Pick polybags from a conveyor | 11 | 187,312 |
+| `db_l2` | DB-L2 | Lift a package onto a conveyor | 12 | 79,158 |
+| `db_l3` | DB-L3 | Pack an invoice | 13 | 65,367 |
+| `db_l4` | DB-L4 | Deliver a parcel barcode-up | 14 | 308,559 |
+| `db_m1` | DB-M1 | Insert a detergent drawer | 15 | 354,546 |
+| `db_m2` | DB-M2 | Insert a connector | 16 | 240,697 |
+| `db_m3` | DB-M3 | Fasten bolts with a power driver | 17 | 247,762 |
+| `db_m4` | DB-M4 | Hand-start a leveling leg | 18 | 403,558 |
+| `db_m5` | DB-M5 | Place a part in a kit box | 19, 20, 21, 22, 23 | 103,610 |
+| `db_h1` | DB-H1 | Stack plates or bowls | 24, 25 | 187,019 |
+| `db_h2` | DB-H2 | Lift and pour | 26 | 301,434 |
+| `db_h3` | DB-H3 | Extract one utensil | 27, 28, 29 | 43,351 |
+
+| | |
+|---|---|
+| Episodes | 3,600 (task k = episodes 240k … 240k+239, in the table's order) |
+| Frames | 2,947,227 at 30 fps |
+| Cameras | `observation.images.camera_ego_left`, `observation.images.camera_ego_right`, `observation.images.camera_wrist_left`, `observation.images.camera_wrist_right`: 640×360, H.264, 30 fps |
+| State / action | `observation.joint_position`, `observation.joint_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/modality.json`: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
+| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py multitask multitask_v21 --expect-episodes 3600 --expect-frames 2947227` |
+| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |
+
+## Integrity
+
+`sha256sum -c SHA256SUMS` inside this folder.

multitask/SHA256SUMS

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tools/convert_lerobot_v30_to_v21.py

@@ -0,0 +1,274 @@
+#!/usr/bin/env python3
+# Copyright 2026 RLWRLD Inc.
+# SPDX-License-Identifier: Apache-2.0
+"""Convert a LeRobot v3.0 dataset of DexBench-datasets to the LeRobot v2.1 layout, losslessly.
+
+    pip install "av>=14" numpy pandas pyarrow
+    python tools/convert_lerobot_v30_to_v21.py SRC DST [--expect-episodes N] [--expect-frames N] [--jobs J]
+
+SRC is a v3.0 dataset root (for example db_r1/); DST must not exist and is written as DST.partial first.
+
+* data: every v3.0 parquet row goes to its episode's v2.1 parquet unchanged (same columns, dtypes and
+  global ``index``); row count, ``frame_index`` and ``index`` ranges are checked against the episode table.
+* video: each episode's packets are copied out of the concatenated file (no re-encode). Every output is
+  decoded and compared frame by frame (RGB bytes) with the same span of the v3.0 file; a mismatch, an
+  episode that does not start on a keyframe, a frame count other than the episode length or a first
+  frame whose timestamp is not 0 aborts the conversion.
+* meta: info.json gets the v2.1 paths and counts; episodes.jsonl, tasks.jsonl and episodes_stats.jsonl are
+  written from the v3.0 tables; stats.json and modality.json are copied.
+"""
+
+from __future__ import annotations
+
+import argparse
+from concurrent.futures import ProcessPoolExecutor
+from concurrent.futures import as_completed
+from fractions import Fraction
+import hashlib
+import json
+import math
+import os
+from pathlib import Path
+import shutil
+import sys
+import time
+
+import av
+import numpy as np
+import pandas as pd
+
+V21_DATA = "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"
+V21_VIDEO = "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4"
+CHUNK = 1000
+
+
+def load_episodes(src: Path) -> pd.DataFrame:
+    files = sorted((src / "meta/episodes").glob("chunk-*/file-*.parquet"))
+    eps = pd.concat([pd.read_parquet(f) for f in files], ignore_index=True)
+    eps = eps.sort_values("episode_index").reset_index(drop=True)
+    if list(eps["episode_index"]) != list(range(len(eps))):
+        raise ValueError("v3.0 episode table is not episodes 0..N-1")
+    return eps
+
+
+def load_tasks(src: Path) -> dict[int, str]:
+    tasks = pd.read_parquet(src / "meta/tasks.parquet")
+    if "task" not in tasks.columns:  # lerobot v3.0 keeps the task string as the index
+        tasks = tasks.reset_index().rename(columns={"index": "task", "__index_level_0__": "task"})
+    out = {int(i): str(t) for i, t in zip(tasks["task_index"], tasks["task"], strict=True)}
+    if sorted(out) != list(range(len(out))):
+        raise ValueError("task indices are not 0..T-1")
+    return out
+
+
+def decode_rgb_hashes(path: str, start_pts: int | None, end_pts: int | None) -> tuple[list[str], list[int]]:
+    """Decode frames with start_pts <= pts < end_pts (all frames when both are None)."""
+    hashes, pts = [], []
+    with av.open(path) as c:
+        s = c.streams.video[0]
+        if start_pts is not None:
+            c.seek(start_pts, stream=s, backward=True, any_frame=False)
+        for frame in c.decode(s):
+            if frame.pts is None:
+                raise ValueError(f"{path}: frame without pts")
+            if start_pts is not None and frame.pts < start_pts:
+                continue
+            if end_pts is not None and frame.pts >= end_pts:
+                break
+            hashes.append(hashlib.sha1(frame.to_ndarray(format="rgb24").tobytes()).hexdigest())
+            pts.append(frame.pts)
+    return hashes, pts
+
+
+def remux_episode(src_video: str, dst_video: str, from_ts: float, to_ts: float, length: int, fps: int) -> dict:
+    with av.open(src_video) as inp:
+        ist = inp.streams.video[0]
+        tb = ist.time_base
+        frame_ticks = Fraction(1, fps) / tb
+        if frame_ticks.denominator != 1:
+            raise ValueError(f"time base {tb} does not divide 1/{fps}")
+        frame_ticks = int(frame_ticks)
+        start = round(Fraction(from_ts).limit_denominator(1 << 20) / tb)
+        end = start + length * frame_ticks
+        half = frame_ticks // 2
+        tmp = dst_video + ".partial.mp4"
+        with av.open(tmp, "w", format="mp4") as out:
+            ost = out.add_stream_from_template(ist)
+            inp.seek(start, stream=ist, backward=True, any_frame=False)
+            first, n, last_dts = None, 0, None
+            for pkt in inp.demux(ist):
+                if pkt.pts is None or pkt.size == 0:
+                    continue
+                if pkt.dts is not None and pkt.dts >= end + 4 * frame_ticks:
+                    break
+                if not (start - half <= pkt.pts < end - half):
+                    continue
+                if first is None:
+                    first = pkt
+                    if not pkt.is_keyframe:
+                        raise ValueError(f"{src_video}@{from_ts}: episode does not start on a keyframe")
+                pkt.pts -= start
+                if pkt.dts is not None:
+                    pkt.dts -= start
+                    if last_dts is not None and pkt.dts <= last_dts:
+                        raise ValueError(f"{src_video}@{from_ts}: non-monotonic dts")
+                    last_dts = pkt.dts
+                pkt.stream = ost
+                out.mux(pkt)
+                n += 1
+        if n != length:
+            raise ValueError(f"{src_video}@{from_ts}: {n} packets, episode length {length}")
+    got, got_pts = decode_rgb_hashes(tmp, None, None)
+    want, _ = decode_rgb_hashes(src_video, start - half, end - half)
+    if len(got) != length or got != want:
+        raise ValueError(
+            f"{src_video}@{from_ts}: decoded frames differ (got {len(got)}, want {len(want)}, length {length})"
+        )
+    if got_pts[0] != 0:
+        raise ValueError(f"{dst_video}: first frame pts {got_pts[0]} != 0")
+    os.replace(tmp, dst_video)
+    return {"frames": len(got)}
+
+
+def _remux_job(args):
+    return args[1], remux_episode(*args)
+
+
+def main() -> None:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("src", type=Path)
+    ap.add_argument("dst", type=Path)
+    ap.add_argument("--jobs", type=int, default=os.cpu_count())
+    ap.add_argument("--expect-episodes", type=int, help="refuse unless the dataset has this many episodes")
+    ap.add_argument("--expect-frames", type=int, help="refuse unless the dataset has this many frames")
+    a = ap.parse_args()
+
+    src, dst = a.src.resolve(), a.dst
+    if dst.exists():
+        sys.exit(f"refusing to overwrite {dst}")
+    work = dst.with_name(dst.name + ".partial")
+    if work.exists():
+        shutil.rmtree(work)
+    info = json.loads((src / "meta/info.json").read_text())
+    if info["codebase_version"] != "v3.0":
+        sys.exit(f"expected v3.0, got {info['codebase_version']}")
+    fps = int(info["fps"])
+    eps = load_episodes(src)
+    tasks = load_tasks(src)
+    n_eps = len(eps)
+    n_frames = int(eps["length"].sum())
+    if (a.expect_episodes is not None and n_eps != a.expect_episodes) or (
+        a.expect_frames is not None and n_frames != a.expect_frames
+    ):
+        sys.exit(f"{n_eps} episodes / {n_frames} frames, expected {a.expect_episodes} / {a.expect_frames}")
+    if info["total_episodes"] != n_eps or info["total_frames"] != n_frames:
+        sys.exit("info.json counts disagree with the episode table")
+    video_keys = [k for k, v in info["features"].items() if v.get("dtype") == "video"]
+    task_of = {t: i for i, t in tasks.items()}
+
+    # data
+    (work / "meta").mkdir(parents=True)
+    seen = set()
+    for f in sorted((src / "data").glob("chunk-*/file-*.parquet")):
+        df = pd.read_parquet(f)
+        for ep_key, group in df.groupby("episode_index", sort=True):
+            ep = int(ep_key)
+            row = eps.loc[ep]
+            g = group.reset_index(drop=True)
+            if len(g) != int(row["length"]):
+                sys.exit(f"episode {ep}: {len(g)} rows, length {row['length']}")
+            if not np.array_equal(g["frame_index"].to_numpy(), np.arange(len(g))):
+                sys.exit(f"episode {ep}: frame_index is not 0..L-1")
+            if (
+                int(g["index"].iloc[0]) != int(row["dataset_from_index"])
+                or int(g["index"].iloc[-1]) != int(row["dataset_to_index"]) - 1
+            ):
+                sys.exit(f"episode {ep}: global index range differs from the episode table")
+            ep_tasks = list(row["tasks"])
+            if sorted(set(g["task_index"].astype(int))) != sorted(task_of[t] for t in ep_tasks):
+                sys.exit(f"episode {ep}: task_index column disagrees with the episode's tasks")
+            out = work / V21_DATA.format(episode_chunk=ep // CHUNK, episode_index=ep)
+            out.parent.mkdir(parents=True, exist_ok=True)
+            g.to_parquet(out, index=False)
+            seen.add(ep)
+    if seen != set(range(n_eps)):
+        sys.exit(f"episodes without data: {sorted(set(range(n_eps)) - seen)[:10]}")
+    print(f"data: {n_eps} episode parquets", flush=True)
+
+    # video
+    jobs = []
+    for key in video_keys:
+        for ep in range(n_eps):
+            row = eps.loc[ep]
+            v = src / info["video_path"].format(
+                video_key=key,
+                chunk_index=int(row[f"videos/{key}/chunk_index"]),
+                file_index=int(row[f"videos/{key}/file_index"]),
+            )
+            out = work / V21_VIDEO.format(episode_chunk=ep // CHUNK, video_key=key, episode_index=ep)
+            out.parent.mkdir(parents=True, exist_ok=True)
+            jobs.append(
+                (
+                    str(v),
+                    str(out),
+                    float(row[f"videos/{key}/from_timestamp"]),
+                    float(row[f"videos/{key}/to_timestamp"]),
+                    int(row["length"]),
+                    fps,
+                )
+            )
+    t0, done = time.time(), 0
+    with ProcessPoolExecutor(max_workers=a.jobs) as pool:
+        for fut in as_completed([pool.submit(_remux_job, j) for j in jobs]):
+            fut.result()
+            done += 1
+            if done % 200 == 0 or done == len(jobs):
+                print(f"video: {done}/{len(jobs)} remuxed and verified ({time.time() - t0:.0f}s)", flush=True)
+
+    # meta
+    v21 = dict(info)
+    for k in ("data_files_size_in_mb", "video_files_size_in_mb"):
+        v21.pop(k, None)
+    v21.update(
+        codebase_version="v2.1",
+        data_path=V21_DATA,
+        video_path=V21_VIDEO,
+        total_chunks=math.ceil(n_eps / CHUNK),
+        chunks_size=CHUNK,
+        total_videos=n_eps * len(video_keys),
+        total_tasks=len(tasks),
+    )
+    (work / "meta/info.json").write_text(json.dumps(v21, indent=4))
+    with (work / "meta/episodes.jsonl").open("w") as f:
+        for ep in range(n_eps):
+            row = eps.loc[ep]
+            f.write(json.dumps({"episode_index": ep, "tasks": list(row["tasks"]), "length": int(row["length"])}) + "\n")
+    with (work / "meta/tasks.jsonl").open("w") as f:
+        for i in sorted(tasks):
+            f.write(json.dumps({"task_index": i, "task": tasks[i]}) + "\n")
+    if (src / "meta/modality.json").is_file():
+        shutil.copy2(src / "meta/modality.json", work / "meta/modality.json")
+    if (src / "meta/stats.json").is_file():
+        shutil.copy2(src / "meta/stats.json", work / "meta/stats.json")
+    stat_cols = [c for c in eps.columns if c.startswith("stats/")]
+    if not stat_cols:
+        sys.exit("the v3.0 episode table has no per-episode stats")
+    with (work / "meta/episodes_stats.jsonl").open("w") as f:
+        for ep in range(n_eps):
+            row = eps.loc[ep]
+            stats: dict = {}
+            for c in stat_cols:
+                _, feature, name = c.split("/", 2)
+                stats.setdefault(feature, {})[name] = np.asarray(row[c]).tolist()
+            f.write(json.dumps({"episode_index": ep, "stats": stats}) + "\n")
+    os.replace(work, dst)
+    print(
+        "CONVERT_DONE",
+        dst,
+        json.dumps({"episodes": n_eps, "frames": n_frames, "videos": len(jobs)}),
+        flush=True,
+    )
+
+
+if __name__ == "__main__":
+    main()