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@@ -13313,3 +13313,53 @@ official_data/umi_data/batch2/fold_clothes_e02562/videos/observation.audio.right
 official_data/umi_data/batch2/fold_clothes_e02562/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e00001/annotation/grounding_000000.jsonl

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+{"frame_index": 17, "t_s": 0.57, "side": "left", "task": "fold the black t-shirt", "step": "fold the black t-shirt", "next_step": "", "next_action": "wait for the task to finish", "boxes": [{"label": "黑色短袖", "box_2d": [131, 389, 511, 878]}, {"label": "gripper", "box_2d": [501, 224, 988, 770]}], "points": [], "segment": 1, "anchor": "grasp"}
+{"frame_index": 17, "t_s": 0.57, "side": "right", "task": "fold the black t-shirt", "step": "fold the black t-shirt", "next_step": "", "next_action": "release the black t-shirt to finish the fold", "boxes": [{"label": "黑色短袖", "box_2d": [275, 235, 602, 563]}, {"label": "gripper", "box_2d": [503, 228, 991, 776]}], "points": [{"label": "release point", "point": [550, 500], "arrow_to": null, "note": "release the t-shirt to complete the fold"}], "segment": 1, "anchor": "grasp"}
+{"frame_index": 866, "t_s": 28.87, "side": "left", "task": "fold the black t-shirt", "step": "fold the black t-shirt", "next_step": "", "next_action": "move the gripper away from the folded t-shirt", "boxes": [{"label": "黑色短袖", "box_2d": [220, 226, 615, 615]}, {"label": "gripper", "box_2d": [502, 224, 985, 771]}], "points": [{"label": "gripper", "point": [790, 497], "arrow_to": [850, 497], "note": "move the gripper back as the task is likely complete"}], "segment": 1, "anchor": "release"}
+{"frame_index": 866, "t_s": 28.87, "side": "right", "task": "fold the black t-shirt", "step": "fold the black t-shirt", "next_step": "", "next_action": "retract the gripper away from the folded t-shirt", "boxes": [{"label": "黑色短袖", "box_2d": [55, 500, 590, 882]}, {"label": "gripper", "box_2d": [500, 230, 985, 775]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [900, 500], "note": "retract the gripper"}], "segment": 1, "anchor": "release"}
+{"frame_index": 2021, "t_s": 67.37, "side": "left", "task": "fold the black t-shirt", "step": "fold the black t-shirt", "next_step": "", "next_action": "stay still and observe as the task is nearly complete", "boxes": [{"label": "gripper", "box_2d": [502, 188, 991, 770]}, {"label": "黑色短袖", "box_2d": [117, 0, 680, 380]}], "points": [], "segment": 1, "anchor": "release"}
+{"frame_index": 2021, "t_s": 67.37, "side": "right", "task": "fold the black t-shirt", "step": "fold the black t-shirt", "next_step": "", "next_action": "move the gripper away from the folded t-shirt", "boxes": [{"label": "黑色短袖", "box_2d": [275, 159, 686, 511]}, {"label": "gripper", "box_2d": [502, 230, 975, 775]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [850, 500], "note": "move the gripper away from the folded t-shirt"}], "segment": 1, "anchor": "release"}

official_data/umi_data/batch2/fold_clothes_e00001/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 2094, "instruction": "fold the black t-shirt", "instruction_zh": "fold the black t-shirt", "target_objects": ["黑色短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00001/data/chunk-000/file-000.parquet

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official_data/umi_data/batch2/fold_clothes_e00001/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "action_names": [
+  "left_x",
+  "left_y",
+  "left_z",
+  "left_qw",
+  "left_qx",
+  "left_qy",
+  "left_qz",
+  "left_gripper",
+  "right_x",
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+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "state_names": [
+  "left_x",
+  "left_y",
+  "left_z",
+  "left_qw",
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+  "left_qz",
+  "left_gripper",
+  "right_x",
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+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
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+ "fps": 30.0,
+ "img_size": 960,
+ "n_episodes": 1,
+ "episodes": []
+}

official_data/umi_data/batch2/fold_clothes_e00001/meta/annotation.json

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+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "c174a87aa6e831ed"
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+  "grounding": {
+   "source": "gemini-robotics-er-1.6-preview",
+   "backfilled_at": "2026-08-30T19:00:57+0800"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T17:25:04+0800"
+}

official_data/umi_data/batch2/fold_clothes_e00001/meta/calibration.json

@@ -0,0 +1,333 @@
+{
+ "note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
+ "sides": {
+  "left": {
+   "ego_video": {
+    "source": "fisheye.mp4",
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+       -0.03356
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+    "source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
+   },
+   "provenance": {
+    "camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
+    "kalibr_refined": false,
+    "pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
+    "pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
+   }
+  },
+  "right": {
+   "ego_video": {
+    "source": "fisheye.mp4",
+    "insv_stream": 0,
+    "lens": "front",
+    "native_size": [
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+     1920
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+    "dataset_size": [
+     960,
+     960
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+    "accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
+   },
+   "lenses": {
+    "front": {
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+     "canvas": [
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