Add files using upload-large-folder tool

.gitattributes

@@ -12049,3 +12049,65 @@ official_data/umi_data/batch2/fold_clothes_e07100/imu/episode_0000_right.csv fil
 official_data/umi_data/batch2/fold_clothes_e07100/imu/episode_0000_left.csv filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e07100/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e07100/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08507/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08507/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07733/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07733/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08585/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08585/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04590/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04590/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08526/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08526/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00519/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00519/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00068/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00068/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02076/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02076/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05217/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05217/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01628/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01628/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07808/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07808/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00926/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00926/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03526/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03526/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04346/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04346/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01148/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01148/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00125/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00125/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01542/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01542/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03285/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03285/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04209/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04209/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08860/imu/episode_0000_right.csv filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08860/imu/episode_0000_left.csv filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08860/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08860/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00167/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00167/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08433/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08433/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06710/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06710/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09064/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09064/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01511/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01511/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00715/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00715/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06654/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06654/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06688/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06688/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06665/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06665/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00604/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00604/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text

official_data/umi_data/batch2/fold_clothes_e00068/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1542, "instruction": "fold the blue long sleeve", "instruction_zh": "fold the blue long sleeve", "target_objects": ["蓝色长袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00068/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a7e653f628593b5a6e7da05dfea1cced0d5371d756d2cb0d3b46d655822fea
+size 308997

official_data/umi_data/batch2/fold_clothes_e00068/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",
+  "right_y",
+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "n_episodes": 1,
+ "fps": 30.0,
+ "img_size": 960,
+ "state_names": [
+  "left_x",
+  "left_y",
+  "left_z",
+  "left_qw",
+  "left_qx",
+  "left_qy",
+  "left_qz",
+  "left_gripper",
+  "right_x",
+  "right_y",
+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "episodes": []
+}

official_data/umi_data/batch2/fold_clothes_e00068/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "3f3f7bab87910fd8"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T19:08:25+0800"
+}

official_data/umi_data/batch2/fold_clothes_e00068/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",
+    "insv_stream": 0,
+    "lens": "front",
+    "native_size": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.0013867632554003927,
+     -0.008702634237893705,
+     0.00043594322021658514
+    ],
+    "accel_bias_m_s2": [
+     0.0503796935657597,
+     0.06368103280953678,
+     -0.10290447774487302
+    ],
+    "gravity_vector_camera_frame": [
+     -0.10908758254141775,
+     -0.730464398875813,
+     -0.6741822166968408
+    ],
+    "gravity_magnitude_m_s2": 9.823193919532361,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7151.64,
+      "fy": 7150.25,
+      "cx": 3825.2,
+      "cy": 3856.77,
+      "k1": 0.96616316,
+      "k2": -1.84301269,
+      "k3": 3.4789691,
+      "p1": -0.00073036,
+      "p2": 0.00056983
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.966163,
+      "k2": -1.843013,
+      "k3": 3.478969,
+      "p1": -0.00073,
+      "p2": 0.00057,
+      "fx": 1787.91,
+      "fy": 1787.5625,
+      "cx": 956.3,
+      "cy": 964.1925
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.038,
+      "pitch_deg": -0.111,
+      "roll_deg": 90.251,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.966163,
+      "k2": -1.843013,
+      "k3": 3.478969,
+      "p1": -0.00073,
+      "p2": 0.00057,
+      "fx": 893.955,
+      "fy": 893.78125,
+      "cx": 478.15,
+      "cy": 482.09625
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7112.96,
+      "fy": 7112.38,
+      "cx": 11536.9,
+      "cy": 3832.74,
+      "k1": 0.97610056,
+      "k2": -2.08686185,
+      "k3": 4.44184732,
+      "p1": 0.00037154,
+      "p2": 0.00087007
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.976101,
+      "k2": -2.086862,
+      "k3": 4.441847,
+      "p1": 0.000372,
+      "p2": 0.00087,
+      "fx": 1778.24,
+      "fy": 1778.095,
+      "cx": 964.225,
+      "cy": 958.185
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.18,
+      "pitch_deg": 0.037,
+      "roll_deg": 89.556,
+      "t_m": [
+       0.000857,
+       0.000123,
+       -0.03356
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0019373142578613613,
+      0.0006632238225311149,
+      0.9999979034716158
+     ],
+     [
+      0.999988527837293,
+      -0.0043820463100301965,
+      -0.0019343898106758783
+     ],
+     [
+      0.004380754189541147,
+      0.9999901788539213,
+      -0.0006717056147145419
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.003812722102728109,
+     -0.008879356853717553,
+     -0.001709114831144977
+    ],
+    "accel_bias_m_s2": [
+     -0.08276988688218828,
+     0.002346097679111282,
+     -0.013017165897631735
+    ],
+    "gravity_vector_camera_frame": [
+     0.08243444599522709,
+     -0.7438809268100787,
+     -0.663208661615361
+    ],
+    "gravity_magnitude_m_s2": 9.825098705852328,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7144.3,
+      "fy": 7140.36,
+      "cx": 3828.19,
+      "cy": 3860.43,
+      "k1": 0.95641762,
+      "k2": -1.85701871,
+      "k3": 3.5351615,
+      "p1": -0.00076912,
+      "p2": -0.00104643
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.956418,
+      "k2": -1.857019,
+      "k3": 3.535162,
+      "p1": -0.000769,
+      "p2": -0.001046,
+      "fx": 1786.075,
+      "fy": 1785.09,
+      "cx": 957.0475,
+      "cy": 965.1075
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.222,
+      "pitch_deg": 0.1,
+      "roll_deg": 89.795,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.956418,
+      "k2": -1.857019,
+      "k3": 3.535162,
+      "p1": -0.000769,
+      "p2": -0.001046,
+      "fx": 893.0375,
+      "fy": 892.545,
+      "cx": 478.52375,
+      "cy": 482.55375
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7131.67,
+      "fy": 7130.66,
+      "cx": 11542.4,
+      "cy": 3876.96,
+      "k1": 0.97506797,
+      "k2": -2.16964269,
+      "k3": 4.22772408,
+      "p1": -0.00106036,
+      "p2": -0.00272907
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975068,
+      "k2": -2.169643,
+      "k3": 4.227724,
+      "p1": -0.00106,
+      "p2": -0.002729,
+      "fx": 1782.9175,
+      "fy": 1782.665,
+      "cx": 965.6,
+      "cy": 969.24
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.064,
+      "pitch_deg": 0.149,
+      "roll_deg": 89.457,
+      "t_m": [
+       0.001875,
+       -5.7e-05,
+       -0.032888
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      -0.003698620751528131,
+      0.00442383717822975,
+      0.9999833747963798
+     ],
+     [
+      0.9999877040146874,
+      0.003319687668612209,
+      0.0036839507620446965
+     ],
+     [
+      -0.0033033352797848248,
+      0.9999847045522263,
+      -0.004436061048492451
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "source": "Tic=Kalibr(REDACTED, factory-resid 0.12deg); gravity=static; bias=factory"
+   },
+   "provenance": {
+    "camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
+    "kalibr_refined": true,
+    "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."
+   }
+  }
+ }
+}

official_data/umi_data/batch2/fold_clothes_e00068/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158e2c0e863260ccf7d1a7b56b52a5d7ae4b38b88036fcdc2bed8940fbb2f537
+size 54437

official_data/umi_data/batch2/fold_clothes_e00068/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 1542,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "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.images.left_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "left_x",
+                "left_y",
+                "left_z",
+                "left_qw",
+                "left_qx",
+                "left_qy",
+                "left_qz",
+                "left_gripper",
+                "right_x",
+                "right_y",
+                "right_z",
+                "right_qw",
+                "right_qx",
+                "right_qy",
+                "right_qz",
+                "right_gripper"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "left_x",
+                "left_y",
+                "left_z",
+                "left_qw",
+                "left_qx",
+                "left_qy",
+                "left_qz",
+                "left_gripper",
+                "right_x",
+                "right_y",
+                "right_z",
+                "right_qw",
+                "right_qx",
+                "right_qy",
+                "right_qz",
+                "right_gripper"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00068/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -1.0657322406768799,
+            -0.10926079750061035,
+            0.38454848527908325,
+            7.676026143599302e-05,
+            -0.9726845026016235,
+            -0.5193179845809937,
+            -0.9130187034606934,
+            -1.056666612625122,
+            -0.7953479290008545,
+            -0.25453880429267883,
+            -0.21663378179073334,
+            0.00012170121044619009,
+            -0.9962320327758789,
+            -0.8527625203132629,
+            -0.5964927673339844,
+            0.15000000596046448
+        ],
+        "max": [
+            -0.3668358623981476,
+            0.9912264347076416,
+            1.3224616050720215,
+            0.5441910028457642,
+            0.9365618824958801,
+            0.5308369994163513,
+            0.917650043964386,
+            16.950000762939453,
+            0.5614849925041199,
+            0.6199361681938171,
+            0.544234573841095,
+            0.4551618993282318,
+            0.99733567237854,
+            0.9208760261535645,
+            0.5628986358642578,
+            15.170000076293945
+        ],
+        "mean": [
+            -0.6845327615737915,
+            0.3310897648334503,
+            0.7522032260894775,
+            0.13769353926181793,
+            -0.6200295090675354,
+            -0.004680289886891842,
+            -0.3626860976219177,
+            3.115914821624756,
+            -0.03502252697944641,
+            0.09318936616182327,
+            0.1839316338300705,
+            0.1703236848115921,
+            -0.78711998462677,
+            -0.14186006784439087,
+            0.22853536903858185,
+            4.652243137359619
+        ],
+        "std": [
+            0.14992083609104156,
+            0.27747711539268494,
+            0.16430065035820007,
+            0.1005820780992508,
+            0.4814310371875763,
+            0.19518619775772095,
+            0.4301755428314209,
+            4.01730489730835,
+            0.31140366196632385,
+            0.23409393429756165,
+            0.16858045756816864,
+            0.09620219469070435,
+            0.39907994866371155,
+            0.27324825525283813,
+            0.18946050107479095,
+            3.8779208660125732
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            -1.0222021746635437,
+            -0.06981713615357876,
+            0.39719530642032624,
+            0.0040172352222725746,
+            -0.9717314823050248,
+            -0.45012957632541656,
+            -0.8857710325717926,
+            -0.9908733439104898,
+            -0.7575139844417572,
+            -0.25219170570373534,
+            -0.21432987332344056,
+            0.007986615784466267,
+            -0.9877753317356109,
+            -0.684117888212204,
+            -0.4507758140563965,
+            0.1963216882944107
+        ],
+        "q10": [
+            -0.8615007102489471,
+            0.012497106194496158,
+            0.5686045527458191,
+            0.02610718421638012,
+            -0.9384708046913147,
+            -0.3048343539237976,
+            -0.7390319347381592,
+            -0.9687103307524393,
+            -0.49326264262199404,
+            -0.18524540364742278,
+            -0.06686445474624633,
+            0.04637198522686958,
+            -0.9630191922187805,
+            -0.5192475199699402,
+            -0.010026216506958004,
+            0.8745648622512818
+        ],
+        "q50": [
+            -0.6951307853062948,
+            0.2716178148984909,
+            0.7327956259250641,
+            0.11553779989480972,
+            -0.798943042755127,
+            0.05259639024734497,
+            -0.4612096846103668,
+            2.9786276817321777,
+            0.015766799449920654,
+            0.03508731722831726,
+            0.21036554872989655,
+            0.1637541502714157,
+            -0.9025343656539917,
+            -0.09494590759277344,
+            0.26423943042755127,
+            3.0308361053466797
+        ],
+        "q90": [
+            -0.47253692150115967,
+            0.7570206999778748,
+            0.9549497127532959,
+            0.2679913520812988,
+            0.41335206031799315,
+            0.17691371440887452,
+            0.6191776752471924,
+            8.831875610351563,
+            0.45532641410827634,
+            0.47438858151435853,
+            0.37971959710121156,
+            0.30179513692855836,
+            -0.684517788887024,
+            0.13011698722839354,
+            0.42142969369888306,
+            11.059926986694336
+        ],
+        "q99": [
+            -0.39405226409435273,
+            0.9321478223800659,
+            1.2777382040023804,
+            0.5162866413593292,
+            0.7744974780082703,
+            0.4673193645477295,
+            0.90321692943573,
+            14.380738334655762,
+            0.5339630436897278,
+            0.6102435421943665,
+            0.5294098103046417,
+            0.4313705658912659,
+            0.9449367642402648,
+            0.8320450782775879,
+            0.5015853762626648,
+            13.42041015625
+        ]
+    },
+    "action": {
+        "min": [
+            -1.0657322406768799,
+            -0.10926079750061035,
+            0.38454848527908325,
+            7.676026143599302e-05,
+            -0.9726845026016235,
+            -0.5193179845809937,
+            -0.9130187034606934,
+            -1.056666612625122,
+            -0.7953479290008545,
+            -0.25453880429267883,
+            -0.21663378179073334,
+            0.00012170121044619009,
+            -0.9962320327758789,
+            -0.8527625203132629,
+            -0.5964927673339844,
+            0.15000000596046448
+        ],
+        "max": [
+            -0.3668358623981476,
+            0.9912264347076416,
+            1.3224616050720215,
+            0.5441910028457642,
+            0.9365618824958801,
+            0.5308369994163513,
+            0.917650043964386,
+            16.950000762939453,
+            0.5614849925041199,
+            0.6199361681938171,
+            0.544234573841095,
+            0.4551618993282318,
+            0.99733567237854,
+            0.9208760261535645,
+            0.5628986358642578,
+            15.170000076293945
+        ],
+        "mean": [
+            -0.6845040321350098,
+            0.33118781447410583,
+            0.7522541284561157,
+            0.13769525289535522,
+            -0.6191858053207397,
+            -0.004518032073974609,
+            -0.36178460717201233,
+            3.1144816875457764,
+            -0.03501718118786812,
+            0.09323948621749878,
+            0.18385635316371918,
+            0.17046572268009186,
+            -0.7883363962173462,
+            -0.14213629066944122,
+            0.22880640625953674,
+            4.651358604431152
+        ],
+        "std": [
+            0.14991894364356995,
+            0.27751168608665466,
+            0.16427689790725708,
+            0.10057979077100754,
+            0.4828728437423706,
+            0.19518718123435974,
+            0.43053504824638367,
+            4.015620708465576,
+            0.3114032447338104,
+            0.23412390053272247,
+            0.16859905421733856,
+            0.09613031893968582,
+            0.3966909646987915,
+            0.2730443775653839,
+            0.1890881210565567,
+            3.876570701599121
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            -1.0222021746635437,
+            -0.06981713615357876,
+            0.39719530642032624,
+            0.004071646579541266,
+            -0.9717314823050248,
+            -0.45012957632541656,
+            -0.8846726381778717,
+            -0.9908733439104898,
+            -0.7575139844417572,
+            -0.25219170570373534,
+            -0.21432987332344056,
+            0.007986615784466267,
+            -0.9877753317356109,
+            -0.684117888212204,
+            -0.4507758140563965,
+            0.1963216882944107
+        ],
+        "q10": [
+            -0.8615007102489471,
+            0.012497106194496158,
+            0.5686045527458191,
+            0.02610718421638012,
+            -0.9384708046913147,
+            -0.3048343539237976,
+            -0.7382996916770935,
+            -0.9687103307524393,
+            -0.49326264262199404,
+            -0.18524540364742278,
+            -0.06686445474624633,
+            0.04645389281213284,
+            -0.9630191922187805,
+            -0.5192475199699402,
+            -0.008403062820434567,
+            0.8745648622512818
+        ],
+        "q50": [
+            -0.6950841943422953,
+            0.2716178148984909,
+            0.7327956259250641,
+            0.11553779989480972,
+            -0.798943042755127,
+            0.05301642417907715,
+            -0.4610266238451004,
+            2.9786276817321777,
+            0.015766799449920654,
+            0.03508731722831726,
+            0.21036554872989655,
+            0.16384515166282654,
+            -0.9026672641436259,
+            -0.09541887044906616,
+            0.26423943042755127,
+            3.0308361053466797
+        ],
+        "q90": [
+            -0.47253692150115967,
+            0.7570206999778748,
+            0.9549497127532959,
+            0.2679913520812988,
+            0.4148794889450073,
+            0.17691371440887452,
+            0.6191776752471924,
+            8.81026725769043,
+            0.45532641410827634,
+            0.47438858151435853,
+            0.37971959710121156,
+            0.30179513692855836,
+            -0.6853152394294739,
+            0.12976226806640623,
+            0.42142969369888306,
+            11.050914764404297
+        ],
+        "q99": [
+            -0.39405226409435273,
+            0.9321478223800659,
+            1.2777382040023804,
+            0.5162866413593292,
+            0.784425585269928,
+            0.4673193645477295,
+            0.90321692943573,
+            14.380738334655762,
+            0.5339630436897278,
+            0.6102435421943665,
+            0.5294098103046417,
+            0.4313705658912659,
+            0.9449367642402648,
+            0.8320450782775879,
+            0.5015853762626648,
+            13.42041015625
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            51.36666488647461
+        ],
+        "mean": [
+            25.683332443237305
+        ],
+        "std": [
+            14.837902069091797
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            0.4974347567558289
+        ],
+        "q10": [
+            5.128447532653809
+        ],
+        "q50": [
+            25.673057556152344
+        ],
+        "q90": [
+            46.238214111328126
+        ],
+        "q99": [
+            50.86922813415527
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1541
+        ],
+        "mean": [
+            770.5
+        ],
+        "std": [
+            445.13696394106233
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            14.923043999901937
+        ],
+        "q10": [
+            153.85343999991997
+        ],
+        "q50": [
+            770.1918
+        ],
+        "q90": [
+            1387.14656000008
+        ],
+        "q99": [
+            1526.076956000098
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1541
+        ],
+        "mean": [
+            770.5
+        ],
+        "std": [
+            445.13696394106233
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            14.923043999901937
+        ],
+        "q10": [
+            153.85343999991997
+        ],
+        "q50": [
+            770.1918
+        ],
+        "q90": [
+            1387.14656000008
+        ],
+        "q99": [
+            1526.076956000098
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3456118227917331
+                ]
+            ],
+            [
+                [
+                    0.31039468070196563
+                ]
+            ],
+            [
+                [
+                    0.24956335089402576
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            [
+                [
+                    0.0038048780325167144
+                ]
+            ],
+            [
+                [
+                    0.003805339033823714
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003917455002891496
+                ]
+            ],
+            [
+                [
+                    0.003916846937760428
+                ]
+            ],
+            [
+                [
+                    0.00391123142246489
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3490106033684335
+                ]
+            ],
+            [
+                [
+                    0.30581758494743777
+                ]
+            ],
+            [
+                [
+                    0.1842853406196717
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7018799238862758
+                ]
+            ],
+            [
+                [
+                    0.6470420696586598
+                ]
+            ],
+            [
+                [
+                    0.5724334791963048
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9215820659284581
+                ]
+            ],
+            [
+                [
+                    0.9058220944541392
+                ]
+            ],
+            [
+                [
+                    0.9136934102171166
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3504717357852738
+                ]
+            ],
+            [
+                [
+                    0.3154560072135973
+                ]
+            ],
+            [
+                [
+                    0.2573039695292147
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1542
+        ],
+        "q01": [
+            [
+                [
+                    0.003803750093385588
+                ]
+            ],
+            [
+                [
+                    0.003806259669755775
+                ]
+            ],
+            [
+                [
+                    0.0038004444438673518
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003915561984306917
+                ]
+            ],
+            [
+                [
+                    0.0039173408951966296
+                ]
+            ],
+            [
+                [
+                    0.003912165622098476
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.37256819783689693
+                ]
+            ],
+            [
+                [
+                    0.32952094597650666
+                ]
+            ],
+            [
+                [
+                    0.20795422382503118
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6981367318566956
+                ]
+            ],
+            [
+                [
+                    0.6508927875493109
+                ]
+            ],
+            [
+                [
+                    0.5842755006415976
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8785781340256411
+                ]
+            ],
+            [
+                [
+                    0.8313161559394371
+                ]
+            ],
+            [
+                [
+                    0.7765792150298219
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00068/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f543fc1a7d374fb2c6c178d7c542b8007e3da12b8b452d9c90183e673a10c8e
+size 2221

official_data/umi_data/batch2/fold_clothes_e00068/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a7a41cbd73bf50bdd15dcb871384969fa49aab08d1ac5e20be5824fde53e3b
+size 1233050

official_data/umi_data/batch2/fold_clothes_e00068/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5010e1b931926bf32d8811a04e4fc3084a7d11850c0adfddb135ee0398bc585e
+size 1235408

official_data/umi_data/batch2/fold_clothes_e00068/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0297d28581ebaaddaed5f8a982c3c673e3a2b71c344ce5f1dedcd7b20e34ec3
+size 34004791

official_data/umi_data/batch2/fold_clothes_e00068/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb7038a2bd4d27bc619a3e9cb9902ca90d40a97965a0d0f193b1542a5563cf4
+size 34189588

official_data/umi_data/batch2/fold_clothes_e00125/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1373, "instruction": "fold the black short sleeve", "instruction_zh": "fold the black short sleeve", "target_objects": ["黑色短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00125/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f657420065290eceeeb57854e9d624772520a87117af74b81b536e902f55ce
+size 277201

official_data/umi_data/batch2/fold_clothes_e00125/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00125/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "b04a637dd86c3882"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:40:46+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00125/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",
+    "insv_stream": 0,
+    "lens": "front",
+    "native_size": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     0.0005852230385086188,
+     -0.014437321261745434,
+     0.0021304732363218227
+    ],
+    "accel_bias_m_s2": [
+     -0.06708939538945007,
+     0.002720208900512903,
+     0.05842290836520983
+    ],
+    "gravity_vector_camera_frame": [
+     0.15091497527688671,
+     -0.39055261462360125,
+     -0.9081262717529127
+    ],
+    "gravity_magnitude_m_s2": 9.871162660794774,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7093.04,
+      "fy": 7091.99,
+      "cx": 3839.69,
+      "cy": 3857.92,
+      "k1": 0.96855682,
+      "k2": -2.09735131,
+      "k3": 4.46704149,
+      "p1": -0.00090097,
+      "p2": 0.00104274
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.968557,
+      "k2": -2.097351,
+      "k3": 4.467041,
+      "p1": -0.000901,
+      "p2": 0.001043,
+      "fx": 1773.26,
+      "fy": 1772.9975,
+      "cx": 959.9225,
+      "cy": 964.48
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.362,
+      "pitch_deg": -0.072,
+      "roll_deg": 90.245,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.968557,
+      "k2": -2.097351,
+      "k3": 4.467041,
+      "p1": -0.000901,
+      "p2": 0.001043,
+      "fx": 886.63,
+      "fy": 886.49875,
+      "cx": 479.96125,
+      "cy": 482.24
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7120.31,
+      "fy": 7120.12,
+      "cx": 11536.3,
+      "cy": 3833.5,
+      "k1": 0.9454937,
+      "k2": -1.77051091,
+      "k3": 3.22309566,
+      "p1": 0.0014388,
+      "p2": 0.0010173
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.945494,
+      "k2": -1.770511,
+      "k3": 3.223096,
+      "p1": 0.001439,
+      "p2": 0.001017,
+      "fx": 1780.0775,
+      "fy": 1780.03,
+      "cx": 964.075,
+      "cy": 958.375
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.482,
+      "pitch_deg": -0.157,
+      "roll_deg": 88.884,
+      "t_m": [
+       -0.001914,
+       -0.000591,
+       -0.033149
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0012566367307023252,
+      0.006318044869206176,
+      0.9999792513713259
+     ],
+     [
+      0.9999900681225892,
+      -0.004283897711408802,
+      -0.0012295839041644462
+     ],
+     [
+      0.004276040260128955,
+      0.9999708648402855,
+      -0.006323365422373787
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.0009979738722080995,
+     -7.590495180781667e-05,
+     0.001331743031894395
+    ],
+    "accel_bias_m_s2": [
+     -0.16426932903165703,
+     0.06206009360245489,
+     -0.02775673406327294
+    ],
+    "gravity_vector_camera_frame": [
+     -0.047718194139466694,
+     -0.4404993616914349,
+     -0.8964838460884313
+    ],
+    "gravity_magnitude_m_s2": 9.897888345824931,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7108.39,
+      "fy": 7106.1,
+      "cx": 3837.99,
+      "cy": 3862.2,
+      "k1": 0.96027756,
+      "k2": -1.91148615,
+      "k3": 3.69615507,
+      "p1": -0.00068743,
+      "p2": 0.00118116
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.960278,
+      "k2": -1.911486,
+      "k3": 3.696155,
+      "p1": -0.000687,
+      "p2": 0.001181,
+      "fx": 1777.0975,
+      "fy": 1776.525,
+      "cx": 959.4975,
+      "cy": 965.55
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.038,
+      "pitch_deg": -0.41,
+      "roll_deg": 89.824,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.960278,
+      "k2": -1.911486,
+      "k3": 3.696155,
+      "p1": -0.000687,
+      "p2": 0.001181,
+      "fx": 888.54875,
+      "fy": 888.2625,
+      "cx": 479.74875,
+      "cy": 482.775
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7104.96,
+      "fy": 7103.43,
+      "cx": 11543.3,
+      "cy": 3827.7,
+      "k1": 0.95837986,
+      "k2": -1.94622421,
+      "k3": 3.85370684,
+      "p1": 0.00113873,
+      "p2": 4.863e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.95838,
+      "k2": -1.946224,
+      "k3": 3.853707,
+      "p1": 0.001139,
+      "p2": 4.9e-05,
+      "fx": 1776.24,
+      "fy": 1775.8575,
+      "cx": 965.825,
+      "cy": 956.925
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.076,
+      "pitch_deg": -0.321,
+      "roll_deg": 89.455,
+      "t_m": [
+       -0.001616,
+       -0.000337,
+       -0.033354
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0071557888626999615,
+      -0.000663208086594611,
+      0.9999741770869816
+     ],
+     [
+      0.9999696792250243,
+      0.0030765198532859417,
+      -0.007153716250583313
+     ],
+     [
+      -0.003071696006114788,
+      0.9999950475780497,
+      0.0006852029041134744
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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."
+   }
+  }
+ }
+}

official_data/umi_data/batch2/fold_clothes_e00125/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5e8af93c8748b6e4dd7ba2cc418bc885207d61986d47919675d5ab8a1df356
+size 54451

official_data/umi_data/batch2/fold_clothes_e00125/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 1373,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "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.images.left_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "left_x",
+                "left_y",
+                "left_z",
+                "left_qw",
+                "left_qx",
+                "left_qy",
+                "left_qz",
+                "left_gripper",
+                "right_x",
+                "right_y",
+                "right_z",
+                "right_qw",
+                "right_qx",
+                "right_qy",
+                "right_qz",
+                "right_gripper"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "left_x",
+                "left_y",
+                "left_z",
+                "left_qw",
+                "left_qx",
+                "left_qy",
+                "left_qz",
+                "left_gripper",
+                "right_x",
+                "right_y",
+                "right_z",
+                "right_qw",
+                "right_qx",
+                "right_qy",
+                "right_qz",
+                "right_gripper"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00125/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.13333700597286224,
+            -0.4072914719581604,
+            -0.295396089553833,
+            0.8363863229751587,
+            -0.16945724189281464,
+            -0.4146728515625,
+            -0.4552892744541168,
+            -0.6100000143051147,
+            -0.5695629119873047,
+            -0.8029810190200806,
+            -0.6137502193450928,
+            0.6736011505126953,
+            -0.4992198050022125,
+            -0.21817408502101898,
+            -0.611629068851471,
+            -1.6299999952316284
+        ],
+        "max": [
+            0.6506734490394592,
+            0.13201071321964264,
+            0.7507861256599426,
+            0.9990538358688354,
+            0.2149975597858429,
+            0.19014698266983032,
+            0.11512143164873123,
+            22.426666259765625,
+            0.290923535823822,
+            0.09178411960601807,
+            0.39199334383010864,
+            0.9902222752571106,
+            0.17290177941322327,
+            0.4537927210330963,
+            0.05156618356704712,
+            18.170000076293945
+        ],
+        "mean": [
+            0.17492741346359253,
+            -0.16839313507080078,
+            0.17424356937408447,
+            0.9750768542289734,
+            -0.027629857882857323,
+            -0.12180759012699127,
+            -0.11098890751600266,
+            4.9970550537109375,
+            -0.07581494003534317,
+            -0.4453684985637665,
+            -0.09852509200572968,
+            0.8896571397781372,
+            -0.19388264417648315,
+            0.17939651012420654,
+            -0.3130860924720764,
+            4.67466402053833
+        ],
+        "std": [
+            0.1857154220342636,
+            0.1399887353181839,
+            0.20654304325580597,
+            0.021306078881025314,
+            0.06156562641263008,
+            0.08866284042596817,
+            0.09592123329639435,
+            5.775361061096191,
+            0.16345660388469696,
+            0.16321471333503723,
+            0.20514604449272156,
+            0.053694844245910645,
+            0.10807206481695175,
+            0.10415076464414597,
+            0.12370593100786209,
+            5.7665696144104
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            -0.12428482189774513,
+            -0.3652404715120792,
+            -0.29105861991643905,
+            0.8737910735607147,
+            -0.15479183495044707,
+            -0.3809565582871437,
+            -0.33370851159095766,
+            -0.579491781493028,
+            -0.5448273712396622,
+            -0.7701019966602325,
+            -0.576390877366066,
+            0.7286761397123337,
+            -0.40892296135425565,
+            -0.12346305891871452,
+            -0.5728016346693039,
+            -1.5590763938426973
+        ],
+        "q10": [
+            -0.0495576448738575,
+            -0.3527895897626877,
+            -0.0611977532505989,
+            0.9563796401023865,
+            -0.10497263818979263,
+            -0.2212151825428009,
+            -0.21762194037437438,
+            -0.50397126428459,
+            -0.25095920264720917,
+            -0.6441959977149964,
+            -0.3216219633817673,
+            0.8232552945613861,
+            -0.32711634039878845,
+            0.03035954684019089,
+            -0.47656272947788236,
+            -1.1267829716205597
+        ],
+        "q50": [
+            0.11656633391976357,
+            -0.16301455721259117,
+            0.19238633662462234,
+            0.9798631221055984,
+            -0.02834951877593994,
+            -0.12062457948923111,
+            -0.1246601939201355,
+            3.792306900024414,
+            -0.09414413571357727,
+            -0.4720521494746208,
+            -0.10695609450340271,
+            0.895482885837555,
+            -0.20839278399944305,
+            0.19291838631033897,
+            -0.313920721411705,
+            3.2348597049713135
+        ],
+        "q90": [
+            0.4869250476360321,
+            0.018293440341949466,
+            0.41824660897254945,
+            0.9914035856723785,
+            0.044288096576929094,
+            -0.02387457191944122,
+            0.029297459125518805,
+            14.182765674591066,
+            0.15181731581687927,
+            -0.23611151576042175,
+            0.18696239590644836,
+            0.9523987233638763,
+            -0.039457251628239945,
+            0.29355546832084656,
+            -0.17064402401447296,
+            13.047145414352418
+        ],
+        "q99": [
+            0.6295474988222122,
+            0.12405815303325653,
+            0.6081818068027496,
+            0.9976637017726898,
+            0.15004545748233794,
+            0.1645352739095688,
+            0.0992948579788208,
+            20.87984666824341,
+            0.27582547008991243,
+            0.047809947133064266,
+            0.326875387430191,
+            0.9783344274759292,
+            0.13570257127285004,
+            0.3744024980068207,
+            0.04085821032524108,
+            17.501830139160155
+        ]
+    },
+    "action": {
+        "min": [
+            -0.13333700597286224,
+            -0.4072914719581604,
+            -0.295396089553833,
+            0.8363863229751587,
+            -0.16945724189281464,
+            -0.4146728515625,
+            -0.4552892744541168,
+            -0.6100000143051147,
+            -0.5695629119873047,
+            -0.8029810190200806,
+            -0.6232728958129883,
+            0.6736011505126953,
+            -0.4992198050022125,
+            -0.21817408502101898,
+            -0.611629068851471,
+            -1.6299999952316284
+        ],
+        "max": [
+            0.6635454893112183,
+            0.13201071321964264,
+            0.7507861256599426,
+            0.9990538358688354,
+            0.2149975597858429,
+            0.19014698266983032,
+            0.11512143164873123,
+            22.426666259765625,
+            0.290923535823822,
+            0.09178411960601807,
+            0.39199334383010864,
+            0.9902222752571106,
+            0.17290177941322327,
+            0.4537927210330963,
+            0.05156618356704712,
+            18.170000076293945
+        ],
+        "mean": [
+            0.1752234548330307,
+            -0.16823402047157288,
+            0.17399844527244568,
+            0.9750967621803284,
+            -0.02752416953444481,
+            -0.12179301679134369,
+            -0.11082413047552109,
+            4.996909141540527,
+            -0.07567775994539261,
+            -0.4453805088996887,
+            -0.09899185597896576,
+            0.8897039890289307,
+            -0.19384343922138214,
+            0.17951005697250366,
+            -0.3128942549228668,
+            4.674705982208252
+        ],
+        "std": [
+            0.1861695498228073,
+            0.14016197621822357,
+            0.20687788724899292,
+            0.02129768393933773,
+            0.06161734089255333,
+            0.08864814043045044,
+            0.0959412157535553,
+            5.7754950523376465,
+            0.16344448924064636,
+            0.16319048404693604,
+            0.20560984313488007,
+            0.05367652326822281,
+            0.10813066363334656,
+            0.10426312685012817,
+            0.12361347675323486,
+            5.766526699066162
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            -0.12429557621479034,
+            -0.3652404715120792,
+            -0.29105861991643905,
+            0.8737910735607147,
+            -0.15479183495044707,
+            -0.3809565582871437,
+            -0.33370851159095766,
+            -0.579491781493028,
+            -0.5448273712396622,
+            -0.7701019966602325,
+            -0.5774376922845841,
+            0.7286761397123337,
+            -0.40892296135425565,
+            -0.12346305891871452,
+            -0.5728016346693039,
+            -1.5590763938426973
+        ],
+        "q10": [
+            -0.04961652830243111,
+            -0.3527895897626877,
+            -0.06245317161083221,
+            0.9564073026180268,
+            -0.10497263818979263,
+            -0.22036842852830887,
+            -0.21762194037437438,
+            -0.50397126428459,
+            -0.25095920264720917,
+            -0.6441959977149964,
+            -0.32188096940517424,
+            0.8232552945613861,
+            -0.32711634039878845,
+            0.03035954684019089,
+            -0.4747057855129242,
+            -1.1267829716205597
+        ],
+        "q50": [
+            0.11652550473809242,
+            -0.16301455721259117,
+            0.19238633662462234,
+            0.9798631221055984,
+            -0.028323888778686523,
+            -0.12062457948923111,
+            -0.1246221661567688,
+            3.792306900024414,
+            -0.0938573032617569,
+            -0.4720521494746208,
+            -0.10761919617652893,
+            0.8955208957195282,
+            -0.20839278399944305,
+            0.19291838631033897,
+            -0.31365545094013214,
+            3.2348597049713135
+        ],
+        "q90": [
+            0.4873866319656372,
+            0.01836355477571488,
+            0.41824660897254945,
+            0.9914035856723785,
+            0.044737905263900764,
+            -0.02387457191944122,
+            0.029297459125518805,
+            14.182765674591066,
+            0.15181731581687927,
+            -0.23611151576042175,
+            0.18705164790153506,
+            0.9523987233638763,
+            -0.03941244880358378,
+            0.29368987679481506,
+            -0.17064402401447296,
+            13.047145414352418
+        ],
+        "q99": [
+            0.630756973028183,
+            0.12405815303325653,
+            0.6081818068027496,
+            0.9976637017726898,
+            0.15004545748233794,
+            0.1645352739095688,
+            0.0992948579788208,
+            20.87984666824341,
+            0.27582547008991243,
+            0.047809947133064266,
+            0.32686799108982084,
+            0.9783344274759292,
+            0.13570257127285004,
+            0.3744024980068207,
+            0.04085821032524108,
+            17.501830139160155
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            45.733333587646484
+        ],
+        "mean": [
+            22.866668701171875
+        ],
+        "std": [
+            13.211690902709961
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            0.43657040685415266
+        ],
+        "q10": [
+            4.566931056976318
+        ],
+        "q50": [
+            22.871240615844727
+        ],
+        "q90": [
+            41.16640434265137
+        ],
+        "q99": [
+            45.296766128540035
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1372
+        ],
+        "mean": [
+            686.0
+        ],
+        "std": [
+            396.35085467297785
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            13.09711199990191
+        ],
+        "q10": [
+            137.00791999991998
+        ],
+        "q50": [
+            686.1372
+        ],
+        "q90": [
+            1234.99208000008
+        ],
+        "q99": [
+            1358.902888000098
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1372
+        ],
+        "mean": [
+            686.0
+        ],
+        "std": [
+            396.35085467297785
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            13.09711199990191
+        ],
+        "q10": [
+            137.00791999991998
+        ],
+        "q50": [
+            686.1372
+        ],
+        "q90": [
+            1234.99208000008
+        ],
+        "q99": [
+            1358.902888000098
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.1107382793428243
+                ]
+            ],
+            [
+                [
+                    0.11088788019674914
+                ]
+            ],
+            [
+                [
+                    0.09001674149860968
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            [
+                [
+                    0.003810909653470071
+                ]
+            ],
+            [
+                [
+                    0.0038030253791758555
+                ]
+            ],
+            [
+                [
+                    0.0038086595480135944
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0039288886673596035
+                ]
+            ],
+            [
+                [
+                    0.003918640424654325
+                ]
+            ],
+            [
+                [
+                    0.0039258569110263136
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.08637493267987759
+                ]
+            ],
+            [
+                [
+                    0.050994792065683796
+                ]
+            ],
+            [
+                [
+                    0.06276882352032911
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.23123432072218592
+                ]
+            ],
+            [
+                [
+                    0.2940293958950914
+                ]
+            ],
+            [
+                [
+                    0.19211588094807586
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.38030520220710534
+                ]
+            ],
+            [
+                [
+                    0.39619440640719056
+                ]
+            ],
+            [
+                [
+                    0.38420894330956196
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.10957577082253413
+                ]
+            ],
+            [
+                [
+                    0.11488226323325995
+                ]
+            ],
+            [
+                [
+                    0.09221664520740228
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1373
+        ],
+        "q01": [
+            [
+                [
+                    0.0038093115328870428
+                ]
+            ],
+            [
+                [
+                    0.0038028183702831933
+                ]
+            ],
+            [
+                [
+                    0.0038074060283185295
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0039235156711277695
+                ]
+            ],
+            [
+                [
+                    0.0039123507687650666
+                ]
+            ],
+            [
+                [
+                    0.003918506568951161
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.09014530415710202
+                ]
+            ],
+            [
+                [
+                    0.05892502447390959
+                ]
+            ],
+            [
+                [
+                    0.06679309325159417
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.22750379572432192
+                ]
+            ],
+            [
+                [
+                    0.2901098684510645
+                ]
+            ],
+            [
+                [
+                    0.20002377226333456
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.37244372394383407
+                ]
+            ],
+            [
+                [
+                    0.3883954151743156
+                ]
+            ],
+            [
+                [
+                    0.37242872302731417
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00125/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c371a035a57af9fc1a32816aef81efd4dea4ba82230fcc62ab8393536927bdae
+size 2231

official_data/umi_data/batch2/fold_clothes_e00125/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad2a2788fed994ddd3fe9add9615dbbeab4b51abae7506f5314240581f68d67
+size 1093956

official_data/umi_data/batch2/fold_clothes_e00125/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b2c152c6cfa163111fe9073218474ee45511d107fd60a1c1d3b02085bd22513
+size 1094587

official_data/umi_data/batch2/fold_clothes_e00125/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:624146cd328188c2641112dbb8ac2dc9a96d8a5350758919d8e24338a2fdb77a
+size 27992075

official_data/umi_data/batch2/fold_clothes_e00125/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6214eaf4feeec4525a0d7b0b7065040f8df1c56f1cc455cbaa721d1bb0572aa9
+size 29402532

official_data/umi_data/batch2/fold_clothes_e00167/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 607, "instruction": "unfold the white t-shirt", "instruction_zh": "unfold the white t-shirt", "target_objects": ["白色T恤"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00167/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae117e6ea8ca226ce48d79f5f398ca39406f24d5acadd3c1e131c61b767c052d
+size 121880

official_data/umi_data/batch2/fold_clothes_e00167/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00167/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "161fa033103ad202"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:49:10+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00167/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",
+    "insv_stream": 0,
+    "lens": "front",
+    "native_size": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     0.0005852230385086188,
+     -0.014437321261745434,
+     0.0021304732363218227
+    ],
+    "accel_bias_m_s2": [
+     -0.06708939538945007,
+     0.002720208900512903,
+     0.05842290836520983
+    ],
+    "gravity_vector_camera_frame": [
+     0.2075341197896404,
+     -0.44062038805059783,
+     -0.873374640550823
+    ],
+    "gravity_magnitude_m_s2": 9.85804495833119,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7093.04,
+      "fy": 7091.99,
+      "cx": 3839.69,
+      "cy": 3857.92,
+      "k1": 0.96855682,
+      "k2": -2.09735131,
+      "k3": 4.46704149,
+      "p1": -0.00090097,
+      "p2": 0.00104274
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.968557,
+      "k2": -2.097351,
+      "k3": 4.467041,
+      "p1": -0.000901,
+      "p2": 0.001043,
+      "fx": 1773.26,
+      "fy": 1772.9975,
+      "cx": 959.9225,
+      "cy": 964.48
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.362,
+      "pitch_deg": -0.072,
+      "roll_deg": 90.245,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.968557,
+      "k2": -2.097351,
+      "k3": 4.467041,
+      "p1": -0.000901,
+      "p2": 0.001043,
+      "fx": 886.63,
+      "fy": 886.49875,
+      "cx": 479.96125,
+      "cy": 482.24
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7120.31,
+      "fy": 7120.12,
+      "cx": 11536.3,
+      "cy": 3833.5,
+      "k1": 0.9454937,
+      "k2": -1.77051091,
+      "k3": 3.22309566,
+      "p1": 0.0014388,
+      "p2": 0.0010173
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.945494,
+      "k2": -1.770511,
+      "k3": 3.223096,
+      "p1": 0.001439,
+      "p2": 0.001017,
+      "fx": 1780.0775,
+      "fy": 1780.03,
+      "cx": 964.075,
+      "cy": 958.375
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.482,
+      "pitch_deg": -0.157,
+      "roll_deg": 88.884,
+      "t_m": [
+       -0.001914,
+       -0.000591,
+       -0.033149
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0012566367307023252,
+      0.006318044869206176,
+      0.9999792513713259
+     ],
+     [
+      0.9999900681225892,
+      -0.004283897711408802,
+      -0.0012295839041644462
+     ],
+     [
+      0.004276040260128955,
+      0.9999708648402855,
+      -0.006323365422373787
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.0009979738722080995,
+     -7.590495180781667e-05,
+     0.001331743031894395
+    ],
+    "accel_bias_m_s2": [
+     -0.16426932903165703,
+     0.06206009360245489,
+     -0.02775673406327294
+    ],
+    "gravity_vector_camera_frame": [
+     -0.10631942708894948,
+     -0.35582093688630734,
+     -0.928486747507377
+    ],
+    "gravity_magnitude_m_s2": 9.879628076930183,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7108.39,
+      "fy": 7106.1,
+      "cx": 3837.99,
+      "cy": 3862.2,
+      "k1": 0.96027756,
+      "k2": -1.91148615,
+      "k3": 3.69615507,
+      "p1": -0.00068743,
+      "p2": 0.00118116
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.960278,
+      "k2": -1.911486,
+      "k3": 3.696155,
+      "p1": -0.000687,
+      "p2": 0.001181,
+      "fx": 1777.0975,
+      "fy": 1776.525,
+      "cx": 959.4975,
+      "cy": 965.55
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.038,
+      "pitch_deg": -0.41,
+      "roll_deg": 89.824,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.960278,
+      "k2": -1.911486,
+      "k3": 3.696155,
+      "p1": -0.000687,
+      "p2": 0.001181,
+      "fx": 888.54875,
+      "fy": 888.2625,
+      "cx": 479.74875,
+      "cy": 482.775
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7104.96,
+      "fy": 7103.43,
+      "cx": 11543.3,
+      "cy": 3827.7,
+      "k1": 0.95837986,
+      "k2": -1.94622421,
+      "k3": 3.85370684,
+      "p1": 0.00113873,
+      "p2": 4.863e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.95838,
+      "k2": -1.946224,
+      "k3": 3.853707,
+      "p1": 0.001139,
+      "p2": 4.9e-05,
+      "fx": 1776.24,
+      "fy": 1775.8575,
+      "cx": 965.825,
+      "cy": 956.925
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.076,
+      "pitch_deg": -0.321,
+      "roll_deg": 89.455,
+      "t_m": [
+       -0.001616,
+       -0.000337,
+       -0.033354
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0071557888626999615,
+      -0.000663208086594611,
+      0.9999741770869816
+     ],
+     [
+      0.9999696792250243,
+      0.0030765198532859417,
+      -0.007153716250583313
+     ],
+     [
+      -0.003071696006114788,
+      0.9999950475780497,
+      0.0006852029041134744
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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."
+   }
+  }
+ }
+}

official_data/umi_data/batch2/fold_clothes_e00167/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f5bc5572be0bbba2659ea77bb3537f19db9e7d6111347d9e1fae5c4b0d84c0
+size 54456

official_data/umi_data/batch2/fold_clothes_e00167/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 607,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "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.images.left_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "left_x",
+                "left_y",
+                "left_z",
+                "left_qw",
+                "left_qx",
+                "left_qy",
+                "left_qz",
+                "left_gripper",
+                "right_x",
+                "right_y",
+                "right_z",
+                "right_qw",
+                "right_qx",
+                "right_qy",
+                "right_qz",
+                "right_gripper"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "left_x",
+                "left_y",
+                "left_z",
+                "left_qw",
+                "left_qx",
+                "left_qy",
+                "left_qz",
+                "left_gripper",
+                "right_x",
+                "right_y",
+                "right_z",
+                "right_qw",
+                "right_qx",
+                "right_qy",
+                "right_qz",
+                "right_gripper"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00167/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.239297017455101,
+            -0.19251884520053864,
+            -0.5688307881355286,
+            0.7258182764053345,
+            -0.5680606961250305,
+            -0.5764190554618835,
+            -0.11162201315164566,
+            -0.6899999976158142,
+            0.26197579503059387,
+            -0.042748015373945236,
+            -0.015654098242521286,
+            0.5703655481338501,
+            -0.8143512010574341,
+            0.054923657327890396,
+            -0.1432405263185501,
+            -1.2799999713897705
+        ],
+        "max": [
+            0.07072192430496216,
+            0.1859131157398224,
+            0.09531688690185547,
+            0.9274864196777344,
+            -0.1812649816274643,
+            -0.1248248815536499,
+            0.21158772706985474,
+            16.15333366394043,
+            0.6961972117424011,
+            0.5507107973098755,
+            0.5458963513374329,
+            0.8109593987464905,
+            -0.5358863472938538,
+            0.47444653511047363,
+            0.46048638224601746,
+            14.3100004196167
+        ],
+        "mean": [
+            -0.10096025466918945,
+            -0.01705700345337391,
+            -0.1600087434053421,
+            0.8112949728965759,
+            -0.3710833489894867,
+            -0.41842561960220337,
+            0.08659279346466064,
+            2.689633369445801,
+            0.41622647643089294,
+            0.29572218656539917,
+            0.2672650218009949,
+            0.7092145681381226,
+            -0.6417043805122375,
+            0.22626563906669617,
+            0.04237806797027588,
+            4.231454372406006
+        ],
+        "std": [
+            0.07279127836227417,
+            0.11511015892028809,
+            0.14000342786312103,
+            0.04532870277762413,
+            0.08185221999883652,
+            0.09028483927249908,
+            0.06792304664850235,
+            4.170718669891357,
+            0.13461671769618988,
+            0.1589294821023941,
+            0.11592972278594971,
+            0.05709342285990715,
+            0.05684546008706093,
+            0.10386467725038528,
+            0.12230648845434189,
+            5.134129047393799
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            -0.23575846448540688,
+            -0.19099981293082238,
+            -0.5217998605966568,
+            0.7330811256170273,
+            -0.5614023888111115,
+            -0.5684678518772125,
+            -0.10056371748447418,
+            -0.6848290804028511,
+            0.2646740370988846,
+            -0.03443128488957882,
+            0.008837362229824066,
+            0.5969785785675049,
+            -0.7941864502429962,
+            0.06390438329428434,
+            -0.12439579203724861,
+            -1.2284438061714171
+        ],
+        "q10": [
+            -0.20502752512693406,
+            -0.16794347316026687,
+            -0.37892440259456633,
+            0.7537231117486953,
+            -0.4593942999839783,
+            -0.510152131319046,
+            -0.009442491829395295,
+            -0.642576648791631,
+            0.27037363648414614,
+            0.11377081573009491,
+            0.16030211597681046,
+            0.6375248968601227,
+            -0.700865638256073,
+            0.08423572294414043,
+            -0.07131250053644181,
+            -0.9790432371591267
+        ],
+        "q50": [
+            -0.09028641507029533,
+            -0.029755257070064545,
+            -0.14902304112911224,
+            0.8108213841915131,
+            -0.37385058403015137,
+            -0.4513726383447647,
+            0.09147220104932785,
+            1.5383731126785278,
+            0.38655391335487366,
+            0.27979686856269836,
+            0.23900902271270752,
+            0.7317799627780914,
+            -0.6467432081699371,
+            0.2509666979312897,
+            0.024776674807071686,
+            3.7664828300476074
+        ],
+        "q90": [
+            -0.012654568254947658,
+            0.16875503063201905,
+            -0.011836725473403921,
+            0.8613110244274139,
+            -0.2637066304683685,
+            -0.29477783143520353,
+            0.17185231149196625,
+            8.78370246887207,
+            0.6234477400779724,
+            0.4960453669230143,
+            0.45765431821346286,
+            0.778974837064743,
+            -0.5712903618812561,
+            0.3221009910106659,
+            0.20526686608791353,
+            11.146165561676026
+        ],
+        "q99": [
+            0.06011494487524032,
+            0.1855294018983841,
+            0.08813476800918578,
+            0.916916172504425,
+            -0.1897799289226532,
+            -0.1755000701546669,
+            0.20408472925424576,
+            15.991403350830078,
+            0.693759446144104,
+            0.5493968504667283,
+            0.5374652218818664,
+            0.807298988699913,
+            -0.5383407700061799,
+            0.4381099626421928,
+            0.4410379636287689,
+            14.153882122039795
+        ]
+    },
+    "action": {
+        "min": [
+            -0.239297017455101,
+            -0.19251884520053864,
+            -0.5688307881355286,
+            0.7258182764053345,
+            -0.5680606961250305,
+            -0.5764190554618835,
+            -0.11162201315164566,
+            -0.6899999976158142,
+            0.25955066084861755,
+            -0.042748015373945236,
+            -0.015654098242521286,
+            0.5703655481338501,
+            -0.8143512010574341,
+            0.054923657327890396,
+            -0.1604883372783661,
+            -1.2799999713897705
+        ],
+        "max": [
+            0.07072192430496216,
+            0.1859131157398224,
+            0.09531688690185547,
+            0.9274864196777344,
+            -0.1812649816274643,
+            -0.1248248815536499,
+            0.21158772706985474,
+            16.15333366394043,
+            0.6961972117424011,
+            0.5507107973098755,
+            0.5458963513374329,
+            0.8109593987464905,
+            -0.5358863472938538,
+            0.47444653511047363,
+            0.46048638224601746,
+            14.3100004196167
+        ],
+        "mean": [
+            -0.10119757056236267,
+            -0.017292074859142303,
+            -0.15999117493629456,
+            0.8113378882408142,
+            -0.37085995078086853,
+            -0.4185195863246918,
+            0.08664295822381973,
+            2.688386917114258,
+            0.4161897897720337,
+            0.2960677146911621,
+            0.2675530016422272,
+            0.7091248035430908,
+            -0.6418207287788391,
+            0.22610880434513092,
+            0.042236484587192535,
+            4.23197078704834
+        ],
+        "std": [
+            0.07277082651853561,
+            0.11505651473999023,
+            0.13999043405056,
+            0.04534119367599487,
+            0.08193492144346237,
+            0.09031594544649124,
+            0.06783904135227203,
+            4.170056343078613,
+            0.1346563845872879,
+            0.15914088487625122,
+            0.11613398045301437,
+            0.05701715871691704,
+            0.05680455267429352,
+            0.10400427877902985,
+            0.12249136716127396,
+            5.134626865386963
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            -0.23575846448540688,
+            -0.19099981293082238,
+            -0.5217998605966568,
+            0.7330811256170273,
+            -0.5614023888111115,
+            -0.5684678518772125,
+            -0.10056371748447418,
+            -0.6848290804028511,
+            0.2644472151994705,
+            -0.03443128488957882,
+            0.008837362229824066,
+            0.5969785785675049,
+            -0.7941864502429962,
+            0.06390438329428434,
+            -0.12458730563521385,
+            -1.2284438061714171
+        ],
+        "q10": [
+            -0.20502752512693406,
+            -0.16794347316026687,
+            -0.37892440259456633,
+            0.7537231117486953,
+            -0.4593942999839783,
+            -0.510152131319046,
+            -0.009442491829395295,
+            -0.642576648791631,
+            0.27026596665382385,
+            0.11377081573009491,
+            0.16030211597681046,
+            0.6375248968601227,
+            -0.700865638256073,
+            0.08423572294414043,
+            -0.07135361954569816,
+            -0.9790432371591267
+        ],
+        "q50": [
+            -0.09082894772291183,
+            -0.030341818928718567,
+            -0.14902304112911224,
+            0.8109020590782166,
+            -0.3737732172012329,
+            -0.45182421803474426,
+            0.09147220104932785,
+            1.5383731126785278,
+            0.38657113909721375,
+            0.27979686856269836,
+            0.23900902271270752,
+            0.73110631108284,
+            -0.6480798423290253,
+            0.2509666979312897,
+            0.02487262338399887,
+            3.7664828300476074
+        ],
+        "q90": [
+            -0.012654568254947658,
+            0.16875503063201905,
+            -0.011836725473403921,
+            0.8613110244274139,
+            -0.2637066304683685,
+            -0.29477783143520353,
+            0.17185231149196625,
+            8.78370246887207,
+            0.6233907639980316,
+            0.49608492453893027,
+            0.45765431821346286,
+            0.7783493041992188,
+            -0.5712903618812561,
+            0.3221009910106659,
+            0.2053030461072922,
+            11.146165561676026
+        ],
+        "q99": [
+            0.06011494487524032,
+            0.1855294018983841,
+            0.08813476800918578,
+            0.916916172504425,
+            -0.1897799289226532,
+            -0.1755000701546669,
+            0.20408472925424576,
+            15.991403350830078,
+            0.6938331991434097,
+            0.5493968504667283,
+            0.5374652218818664,
+            0.807298988699913,
+            -0.5383407700061799,
+            0.4381099626421928,
+            0.44097910463809964,
+            14.153882122039795
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            20.200000762939453
+        ],
+        "mean": [
+            10.099998474121094
+        ],
+        "std": [
+            5.840854167938232
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            0.19824280440807343
+        ],
+        "q10": [
+            2.002627968788147
+        ],
+        "q50": [
+            10.102020263671875
+        ],
+        "q90": [
+            18.197371864318846
+        ],
+        "q99": [
+            20.001757946014404
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            606
+        ],
+        "mean": [
+            303.0
+        ],
+        "std": [
+            175.22556891047608
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            5.9472839999019635
+        ],
+        "q10": [
+            60.07883999991983
+        ],
+        "q50": [
+            302.93940000000003
+        ],
+        "q90": [
+            545.9211600000802
+        ],
+        "q99": [
+            600.0527160000981
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.959999999999423e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            606
+        ],
+        "mean": [
+            303.0
+        ],
+        "std": [
+            175.22556891047608
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            5.9472839999019635
+        ],
+        "q10": [
+            60.07883999991983
+        ],
+        "q50": [
+            302.93940000000003
+        ],
+        "q90": [
+            545.9211600000802
+        ],
+        "q99": [
+            600.0527160000981
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.959999999999423e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3442934968368584
+                ]
+            ],
+            [
+                [
+                    0.3545233568443535
+                ]
+            ],
+            [
+                [
+                    0.3244535530219673
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            [
+                [
+                    0.0038034044731176625
+                ]
+            ],
+            [
+                [
+                    0.0038042921432971757
+                ]
+            ],
+            [
+                [
+                    0.0038026177751047563
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0039233478805245905
+                ]
+            ],
+            [
+                [
+                    0.003922839514073023
+                ]
+            ],
+            [
+                [
+                    0.003921748876551832
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.34101311765427483
+                ]
+            ],
+            [
+                [
+                    0.3529428482909454
+                ]
+            ],
+            [
+                [
+                    0.3058167682525067
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6981717491010231
+                ]
+            ],
+            [
+                [
+                    0.7372391618300089
+                ]
+            ],
+            [
+                [
+                    0.6900851960382034
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9998821425033547
+                ]
+            ],
+            [
+                [
+                    0.9998738236994782
+                ]
+            ],
+            [
+                [
+                    0.9999044202304704
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3468437161449995
+                ]
+            ],
+            [
+                [
+                    0.3695143144022222
+                ]
+            ],
+            [
+                [
+                    0.3429835364319996
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            607
+        ],
+        "q01": [
+            [
+                [
+                    0.003802321506681005
+                ]
+            ],
+            [
+                [
+                    0.003805295043027212
+                ]
+            ],
+            [
+                [
+                    0.0038022626685753538
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003915993846733717
+                ]
+            ],
+            [
+                [
+                    0.0039180656314221915
+                ]
+            ],
+            [
+                [
+                    0.003915058912210796
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3529748939148125
+                ]
+            ],
+            [
+                [
+                    0.38834606102506625
+                ]
+            ],
+            [
+                [
+                    0.3450575340308044
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6862208616265104
+                ]
+            ],
+            [
+                [
+                    0.7333892724441515
+                ]
+            ],
+            [
+                [
+                    0.6940778122680644
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9998453836651087
+                ]
+            ],
+            [
+                [
+                    0.9998503941160797
+                ]
+            ],
+            [
+                [
+                    0.9998990896148578
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00167/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f60ece3dfbda1613922582eff741fdcd7f2329472ddd4d6e6edc111f89609e9
+size 2216

official_data/umi_data/batch2/fold_clothes_e00167/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d49b95945828c292a530485ecbdca0ba3d434f682eb5b42ee0a8ef98586cf9
+size 484356

official_data/umi_data/batch2/fold_clothes_e00167/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17143a7fea64af174b27b47311fb0ba1bcf0defb88c1aefa970ef3004072db28
+size 484624

official_data/umi_data/batch2/fold_clothes_e00167/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff729cdb8f17909679b720c7db54d31454ebdc50e81628f34ec9632c3eb0fc03
+size 14252662

official_data/umi_data/batch2/fold_clothes_e00167/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d98ef3c3aff2133085d7101c8bf0ad5daeed3c8252cc6ce97bcc08b96269374
+size 13098574

official_data/umi_data/batch2/fold_clothes_e00519/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 971, "instruction": "fold the yellow thermal shirt", "instruction_zh": "fold the yellow thermal shirt", "target_objects": ["黄色保暖衣"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00519/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77e613637b1c8110d8d27c1c3c1f1cb8fad68c68af8ba4381434562beb91ee28
+size 194406

official_data/umi_data/batch2/fold_clothes_e00519/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",
+  "right_y",
+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "n_episodes": 1,
+ "img_size": 960,
+ "fps": 30.0,
+ "state_names": [
+  "left_x",
+  "left_y",
+  "left_z",
+  "left_qw",
+  "left_qx",
+  "left_qy",
+  "left_qz",
+  "left_gripper",
+  "right_x",
+  "right_y",
+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "episodes": []
+}