Publish e05 resource, usage instructions and provenance

README.md

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+---
+language:
+- en
+tags:
+- robotics
+- e05
+- vggt
+---
+
+# E05 processed RoboTwin data
+
+- Robot benchmark tasks: 50; episodes: 2,500 (50/task).
+- Frames: 549,787; LeRobot format: v2.1; robot: aloha-agilex.
+- Metadata FPS: 15. This is the processed dataset's timing metadata, not a claim
+  about the simulator's internal physics/control rate.
+- Language table: 158,984 entries. LeRobot `total_tasks` counts language entries,
+  not the 50 robot benchmark tasks.
+- Cameras, in order: cam_high, cam_left_wrist, cam_right_wrist; RGB 240×320.
+- State/action: 14 joint/gripper components in the existing dataset order.
+  Preserve left-arm joints/gripper followed by right-arm joints/gripper as consumed
+  by RoboTwin's joint-action interface. Do not interpret this as end-effector delta.
+- Source modality metadata records state[t]=joint[t], action[t]=joint[t+1].
+- Geometry cache: depth in metres, valid pixels, intrinsics [3,3,3], and OpenCV
+  world-to-camera extrinsics [3,3,4]. Future target offset: 32 frames; targets
+  beyond an episode are excluded by the existing padding mask.
+
+All 2,500 episodes are used for training; there is no internal held-out loss split.
+Normalization uses the exact source run's statistics, verified equal to the named
+dataset statistics file. Geometric diagnostics on these frames are training-set
+diagnostics, not held-out generalization measurements.
+
+The code expects data that have already been processed. The dataset and caches
+are external resources and are not included in the Git repository.
+RGB/Parquet/meta files retain their content
+and indexing. Cache shards contain original `.pt` files compressed losslessly;
+ZIP readers return the same bytes. There is no raw-data reconstruction pipeline.
+Only language entries referenced by this dataset are included; unrelated experimental
+text caches and incomplete temporary files are excluded. Novel inference instructions
+use the public text encoder online, without modifying the published cache.
+
+The reference layout contains RGB/action files and metadata in the LeRobot
+directory, geometry cache shards by global-frame ranges of 1,000, and text cache
+shards by SHA256 prefix. Each cache manifest records sizes and hashes; ZIP shards
+retain their companion JSON entry manifests.
+`scripts/validate_data.py --full` verifies complete coverage and cache archive
+hashes after the data are placed in the configured directory. See the
+[resource layout](https://github.com/X-EraAI/e05#data-and-checkpoints) for the expected paths.
+
+The processed-data shards in this Hub repository can be installed with
+`scripts/install_data.py`; no raw-data regeneration is required.
+
+Provenance: processed from the locally supplied RobotTwin2.0-Depth
+`aloha-agilex_clean_50` dataset. This is a project-specific derivative, not the
+upstream official dataset release. Upstream data, language and asset terms must
+be retained; the source code MIT license does not relicense these materials.
+
+## Download and install
+
+The download contains about 378 GiB of losslessly compressed data and caches. Allow space for both the download and installed copy. Preserve the repository layout. Run from the e05 code repository:
+
+```bash
+source scripts/env.sh
+hf download X-EraAI/e05-robotwin-data --repo-type dataset --local-dir downloads/robotwin-data
+python scripts/install_data.py downloads/robotwin-data --output data
+python scripts/validate_data.py --data-root data --full
+```
+
+The root manifest records 1,665 payload files and their SHA256 checksums: 51 RGB/action/metadata ZIPs, 1,101 reconstruction cache files, and 513 text cache files. Cache files include ZIPs, entry JSONs, and manifests. Use the e05 installer and loader, not `datasets.load_dataset`.
+
+## Resources
+
+- [e05 code and instructions](https://github.com/X-EraAI/e05)
+- [RoboTwin 109k policy](https://huggingface.co/X-EraAI/e05-robotwin)
+- [Embodied-pretrained VGGT](https://huggingface.co/X-EraAI/e05-embodied-vggt)
+- [Processed RoboTwin training data](https://huggingface.co/datasets/X-EraAI/e05-robotwin-data)
+
+## Terms
+
+See [third-party notices](THIRD_PARTY_NOTICES.md). The code repository's MIT license does not relicense weights or data.

THIRD_PARTY_NOTICES.md

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+# Third-party materials
+
+E05 retains the FastWAM copyright and MIT license for code covered by that license.
+This does not override the terms on vendored code, upstream model weights, data,
+or simulator assets.
+
+- VGGT-Omega: facebookresearch/vggt-omega, pinned source commit documented in
+  `third_party/vggt-omega/README.vendor.md`. Preserve its FAIR Noncommercial Research
+  License and acceptable-use terms in `third_party/vggt-omega/LICENSE`.
+- The public initialization mirror model card declares CC-BY-NC-4.0; retain the
+  model card and applicable upstream terms. Do not label the complete E05 model
+  unrestricted MIT or commercially licensed.
+- Vendored official geometry loss and augmentation retain their LICENSE and
+  PROVENANCE files under `src/fastwam`.
+- RoboTwin source: MIT, commit `bf44be51cf5717a5595ce59447f2cf5263d2aa95`;
+  see `third_party/RoboTwin/LICENSE` and README.vendor.md.
+- cuRobo: preserve the NVIDIA notices and LICENSE in `third_party/curobo`.
+- Wan/T5 components retain their upstream model terms. The component manifest
+  identifies their repositories and SHA256; no Wan video model is required.
+- Processed Xera/RoboTwin data, language and simulation assets are separate
+  third-party-derived materials. Retain their source attribution and terms;
+  RoboTwin's code license alone does not establish their redistribution license.
+
+Local adaptations: portable configuration and entrypoints, isolated execution,
+lossless cache shard loading, non-writing inference text cache, smoke evidence,
+release packaging, and worker/cache lifecycle fixes for NFS. Model architecture and checkpoint serialization are retained.
+
+Embodied-pretrained VGGT resource: extracted from the VGGT branch of the e05
+step-260000 checkpoint. The aggregator, language projector and geometry heads
+retain applicable VGGT-Omega upstream model/code terms. This extraction does
+not change those terms or apply the repository MIT code license to the weights.
+Resource identity is recorded in `artifacts/checkpoint_manifest.json`.