Initial Public Release

Co-authored-by: chu4nq1n <chu4nq1n@users.noreply.huggingface.co>

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+*.pcm filter=lfs diff=lfs merge=lfs -text
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README.md

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+---
+tags:
+  - robotics
+  - lerobot
+  - video
+configs:
+  - config_name: videos
+    default: true
+    drop_labels: true
+    data_files:
+      - split: train
+        path:
+          - "wipe_table/record_*/videos/**/*.mp4"
+          - "checkout/record_*/videos/**/*.mp4"
+          - "close_curtain/record_*/videos/**/*.mp4"
+          - "cloth_basket/record_*/videos/**/*.mp4"
+          - "fruit_basket/record_*/videos/**/*.mp4"
+          - "make_bed/record_*/videos/**/*.mp4"
+          - "pillow/record_*/videos/**/*.mp4"
+          - "push_cart/record_*/videos/**/*.mp4"
+---
+
+<h1 align="center" style="display: flex; justify-content: center; width: 100%; text-align: center; line-height: 0; border-bottom: 1px solid rgba(127, 127, 127, 0.35); margin-bottom: 0.4em;"><img src="https://huggingface.co/datasets/WB-WAM/Self-Collected/resolve/main/assets/wbwam_logo_white.png" alt="WB-WAM" width="220" style="max-width: 100%; height: auto; margin-bottom: 0;" /></h1>
+
+<p align="center" style="display: flex; justify-content: center; width: 100%; text-align: center;"><strong>Selfcollected Dataset</strong></p>
+
+English · [中文](README_zh.md)
+
+Real-robot data collected with SONIC for WB-WAM task post-training. LeRobot v3.0, 20 Hz, RGB 360 × 270. The release contains 1,011 episodes, 242,668 frames, 8 tasks, and 12 independent recordings (3.370 hours).
+
+Each `<task>/record_XXXX/` is an independent LeRobot dataset. Recordings of the same task remain separate:
+
+```text
+<task>/record_XXXX/
+  data/chunk-000/file-000.parquet
+  videos/<camera>/chunk-000/file-000.mp4
+  meta/info.json
+  meta/stats.json
+  meta/tasks.parquet
+  meta/episodes/chunk-000/file-000.parquet
+```
+
+The Dataset Viewer plays the MP4 files. The corresponding Parquet state/action rows and metadata are available under each recording in Files and versions.
+
+| Field | Meaning |
+| --- | --- |
+| `observation.state` | float32[110]: body state[9], G1 joint angles[29], G1 joint velocities[29], left/right Wuji hands[40], root[3] |
+| `action` | float32[136]: next SONIC token[64], left/right Wuji hands[40], G1 joints[29], root[3] |
+| `state_mask_110`, `action_mask_136` | bool[110/136]; `True` means invalid. Both hands have supervision. |
+| `timestamp`, `frame_index`, `episode_index`, `index`, `task_index` | Time and row/episode/task indices. |
+| `next.done` | Last frame of an episode. |
+
+The action contains **absolute next-frame joint targets** (+50 ms), not joint increments. Root[3] denotes roll, pitch, and body-frame z angular velocity, not XYZ position. The original train/validation labels are retained in episode metadata. See each record's `meta/info.json` for exact slices and camera keys.
+
+Download the unpacked files directly:
+
+```bash
+hf download WB-WAM/Self-Collected --repo-type dataset --local-dir ./data/real_archive
+```
+
+To load one recording with LeRobot 0.4.4, use its local record directory as `root`:
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("WB-WAM/Self-Collected", root="./data/real_archive/<task>/record_XXXX")
+sample = dataset[0]
+```
+
+Training code and instructions: [WB-WAM Official](https://github.com/WB-WaM/WB-WAM-Official/tree/main/training).

README_zh.md

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+<h1 align="center" style="display: flex; justify-content: center; width: 100%; text-align: center; line-height: 0; border-bottom: 1px solid rgba(127, 127, 127, 0.35); margin-bottom: 0.4em;"><img src="https://huggingface.co/datasets/WB-WAM/Self-Collected/resolve/main/assets/wbwam_logo_white.png" alt="WB-WAM" width="220" style="max-width: 100%; height: auto; margin-bottom: 0;" /></h1>
+
+<p align="center" style="display: flex; justify-content: center; width: 100%; text-align: center;"><strong>自收数据</strong></p>
+
+[English](README.md) · 中文
+
+通过 SONIC 采集、用于 WB-WAM 任务后训练的真机数据。格式为 LeRobot v3.0，20 Hz，RGB 360 × 270。共 1,011 条 episode、242,668 帧、8 个任务、12 份独立 recording（3.370 小时）。
+
+每个 `<task>/record_XXXX/` 都是独立的 LeRobot 数据集，同一任务的多份 recording 不合并：
+
+```text
+<task>/record_XXXX/
+  data/chunk-000/file-000.parquet
+  videos/<camera>/chunk-000/file-000.mp4
+  meta/info.json
+  meta/stats.json
+  meta/tasks.parquet
+  meta/episodes/chunk-000/file-000.parquet
+```
+
+页面中的 `videos` 子集用于播放 MP4；相应的 Parquet 状态/动作数据和元数据位于 Files and versions 的各条 recording 中。仓库根目录**不是**合并后的单个 LeRobot 数据集。
+
+| 字段 | 含义 |
+| --- | --- |
+| `observation.state` | float32[110]：躯干状态[9]、G1 关节角[29]、关节速度[29]、左右舞肌手[40]、root[3] |
+| `action` | float32[136]：下一帧 SONIC token[64]、左右舞肌手[40]、G1 关节[29]、root[3] |
+| `state_mask_110`、`action_mask_136` | bool[110/136]；`True` 表示无效，双手均有监督。 |
+| `timestamp`、`frame_index`、`episode_index`、`index`、`task_index` | 时间与索引。 |
+| `next.done` | episode 的最后一帧。 |
+
+`action` 是下一帧（+50 ms）的绝对关节目标，不是关节增量。root[3] 是 roll、pitch 和机体坐标系 z 角速度，不是 XYZ 位置。原有训练/验证标记保留在 episode 元数据中。精确维度与相机键见各 recording 的 `meta/info.json`。
+
+直接下载解压后的文件：
+
+```bash
+hf download WB-WAM/Self-Collected --repo-type dataset --local-dir ./data/real_archive
+```
+
+使用 LeRobot 0.4.4 加载单条 recording：
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("WB-WAM/Self-Collected", root="./data/real_archive/<task>/record_XXXX")
+sample = dataset[0]
+```
+
+训练代码与使用说明：[WB-WAM Official](https://github.com/WB-WaM/WB-WAM-Official/tree/main/training)。

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checkout/record_0001/meta/info.json

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "unitree_g1_wuji",
+  "fps": 20,
+  "total_episodes": 100,
+  "total_frames": 27029,
+  "total_tasks": 1,
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+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "splits": {
+    "train": "0:100"
+  },
+  "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": {
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+        "height",
+        "width",
+        "channels"
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+        "has_audio": false,
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+      }
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+  },
+  "state_layout": {
+    "0:3": "body-frame gravity direction",
+    "3:6": "body-frame angular velocity (rad/s)",
+    "6:9": "body-frame acceleration (m/s^2)",
+    "9:38": "G1 position, IsaacLab joint order (rad)",
+    "38:67": "G1 velocity, IsaacLab joint order (rad/s)",
+    "67:87": "left Wuji qpos (rad)",
+    "87:107": "right Wuji qpos (rad)",
+    "107:110": "roll (rad), pitch (rad), body z angular velocity (rad/s)"
+  },
+  "action_layout": {
+    "0:64": "next SONIC token",
+    "64:84": "next left Wuji qpos (rad)",
+    "84:104": "next right Wuji qpos (rad)",
+    "104:133": "next G1 position, IsaacLab order (rad)",
+    "133:136": "next roll, pitch, body z angular velocity"
+  },
+  "action_semantics": "next observed state at t+0.05s; absolute joint positions; not joint increments",
+  "mask_semantics": "True=invalid/not supervised, False=valid; hand dimensions valid",
+  "image_stats_sampling": "first, middle, last frame per episode, stride 4 pixels"
+}

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