Add files using upload-large-folder tool

.gitattributes

@@ -11981,3 +11981,71 @@ official_data/umi_data/batch2/fold_clothes_e08538/videos/observation.audio.right
 official_data/umi_data/batch2/fold_clothes_e08538/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e00586/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e00586/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05578/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05578/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00732/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00732/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03429/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03429/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08516/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08516/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08022/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08022/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01473/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01473/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02302/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02302/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02785/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02785/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00987/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00987/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06582/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06582/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00631/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00631/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01555/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01555/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01190/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01190/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00510/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00510/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08720/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08720/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02570/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02570/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05271/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05271/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02824/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02824/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04627/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04627/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02885/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02885/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09036/imu/episode_0000_right.csv filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09036/imu/episode_0000_left.csv filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09036/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09036/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03134/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03134/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02619/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02619/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05191/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05191/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09000/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09000/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01835/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01835/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01816/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01816/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04976/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04976/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05404/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05404/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04512/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04512/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03160/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03160/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07100/imu/episode_0000_right.csv filter=lfs diff=lfs merge=lfs -text
+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_e00510/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1106, "instruction": "fold the deep blue short sleeve", "instruction_zh": "fold the deep blue short sleeve", "target_objects": ["深蓝色短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00510/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b678fa2384355ed3a46f0a378a6401a5e810fd5b957b02b19e955c5362cab8
+size 223438

official_data/umi_data/batch2/fold_clothes_e00510/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "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"
+ ],
+ "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"
+ ],
+ "fps": 30.0,
+ "n_episodes": 1,
+ "episodes": []
+}

official_data/umi_data/batch2/fold_clothes_e00510/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "ff65fead17d3ce0c"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:56:25+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00510/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": [
+     -0.004483527228334604,
+     -0.0028774288617300745,
+     0.0006799776922409066
+    ],
+    "accel_bias_m_s2": [
+     -0.11006082375269524,
+     0.021046561304339538,
+     0.03742919176153447
+    ],
+    "gravity_vector_camera_frame": [
+     0.025034827614811746,
+     -0.6209593587033363,
+     -0.7834428710793387
+    ],
+    "gravity_magnitude_m_s2": 9.8337457297367,
+    "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": 7102.17,
+      "fy": 7103.75,
+      "cx": 3833.32,
+      "cy": 3853.6,
+      "k1": 0.95656186,
+      "k2": -1.93103337,
+      "k3": 3.92013597,
+      "p1": 0.00132903,
+      "p2": 0.00011066
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.956562,
+      "k2": -1.931033,
+      "k3": 3.920136,
+      "p1": 0.001329,
+      "p2": 0.000111,
+      "fx": 1775.5425,
+      "fy": 1775.9375,
+      "cx": 958.33,
+      "cy": 963.4
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.187,
+      "pitch_deg": -0.169,
+      "roll_deg": 90.589,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.956562,
+      "k2": -1.931033,
+      "k3": 3.920136,
+      "p1": 0.001329,
+      "p2": 0.000111,
+      "fx": 887.77125,
+      "fy": 887.96875,
+      "cx": 479.165,
+      "cy": 481.7
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7118.97,
+      "fy": 7117.51,
+      "cx": 11536.9,
+      "cy": 3884.79,
+      "k1": 0.97289771,
+      "k2": -2.02398896,
+      "k3": 4.12707472,
+      "p1": -0.00030181,
+      "p2": 0.00043862
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.972898,
+      "k2": -2.023989,
+      "k3": 4.127075,
+      "p1": -0.000302,
+      "p2": 0.000439,
+      "fx": 1779.7425,
+      "fy": 1779.3775,
+      "cx": 964.225,
+      "cy": 971.1975
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.307,
+      "pitch_deg": -0.435,
+      "roll_deg": 89.028,
+      "t_m": [
+       -0.000754,
+       0.000204,
+       -0.033261
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0029496021588553776,
+      0.003263745709233859,
+      0.9999903238587109
+     ],
+     [
+      0.9999428115193246,
+      -0.010289379766978357,
+      -0.0029158797709888085
+     ],
+     [
+      0.010279763515394669,
+      0.9999417366166671,
+      -0.0032939086373493997
+     ]
+    ],
+    "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": [
+     -0.00524950087726284,
+     -0.008361999736439793,
+     -0.00041422858487046504
+    ],
+    "accel_bias_m_s2": [
+     -0.027753406238532435,
+     -0.0017735484211631835,
+     0.019512034407272495
+    ],
+    "gravity_vector_camera_frame": [
+     0.09472814593798526,
+     -0.5972980483304271,
+     -0.7964054368396885
+    ],
+    "gravity_magnitude_m_s2": 9.82485496946097,
+    "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": 7074.79,
+      "fy": 7076.38,
+      "cx": 3845.71,
+      "cy": 3853.5,
+      "k1": 0.97950083,
+      "k2": -2.20074248,
+      "k3": 4.6162281,
+      "p1": -0.00097834,
+      "p2": -0.00057229
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.979501,
+      "k2": -2.200742,
+      "k3": 4.616228,
+      "p1": -0.000978,
+      "p2": -0.000572,
+      "fx": 1768.6975,
+      "fy": 1769.095,
+      "cx": 961.4275,
+      "cy": 963.375
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.007,
+      "pitch_deg": 0.104,
+      "roll_deg": 90.389,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.979501,
+      "k2": -2.200742,
+      "k3": 4.616228,
+      "p1": -0.000978,
+      "p2": -0.000572,
+      "fx": 884.34875,
+      "fy": 884.5475,
+      "cx": 480.71375,
+      "cy": 481.6875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7118.99,
+      "fy": 7114.14,
+      "cx": 11518.6,
+      "cy": 3875.18,
+      "k1": 0.96309751,
+      "k2": -1.94366455,
+      "k3": 3.80615282,
+      "p1": -0.0001182,
+      "p2": -0.00131586
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.963098,
+      "k2": -1.943665,
+      "k3": 3.806153,
+      "p1": -0.000118,
+      "p2": -0.001316,
+      "fx": 1779.7475,
+      "fy": 1778.535,
+      "cx": 959.65,
+      "cy": 968.795
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.22,
+      "pitch_deg": 0.294,
+      "roll_deg": 88.898,
+      "t_m": [
+       0.001239,
+       -0.000204,
+       -0.032099
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      -0.0018151414253366012,
+      -0.00012217284607139126,
+      0.9999983451663319
+     ],
+     [
+      0.9999753052496554,
+      -0.006789500336909227,
+      0.0018142701106079614
+     ],
+     [
+      0.006789267446872416,
+      0.9999769436136872,
+      0.0001344937323623193
+     ]
+    ],
+    "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_e00510/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e3c8adeb3759ae641b16cc93297521d2934c6d6fcb478c01ca296d4c8fafcf
+size 54485

official_data/umi_data/batch2/fold_clothes_e00510/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 1106,
+    "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_e00510/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.8399664759635925,
+            -0.3206823468208313,
+            0.11862509697675705,
+            0.000936304044444114,
+            -0.9893621206283569,
+            -0.7543788552284241,
+            -0.633797824382782,
+            -1.0199999809265137,
+            -0.6869966387748718,
+            -0.49098116159439087,
+            -0.1927027553319931,
+            0.4799843430519104,
+            -0.8084800839424133,
+            -0.7009701132774353,
+            -0.318936824798584,
+            -0.4300000071525574
+        ],
+        "max": [
+            0.5342245697975159,
+            0.5092577934265137,
+            0.8945009708404541,
+            0.4931398034095764,
+            0.9425918459892273,
+            0.428806871175766,
+            0.6296955943107605,
+            18.08333396911621,
+            0.6637833714485168,
+            0.2697046399116516,
+            0.9245060086250305,
+            0.9693377017974854,
+            -0.09357947111129761,
+            0.2395983189344406,
+            0.4866892397403717,
+            19.299999237060547
+        ],
+        "mean": [
+            -0.09449548274278641,
+            0.12623943388462067,
+            0.45572173595428467,
+            0.2672451138496399,
+            0.6646881103515625,
+            -0.35918885469436646,
+            0.28541499376296997,
+            2.4466066360473633,
+            0.1864526867866516,
+            0.029276076704263687,
+            0.3236807882785797,
+            0.6999651193618774,
+            -0.5577419400215149,
+            -0.29173555970191956,
+            0.1697394847869873,
+            3.7431066036224365
+        ],
+        "std": [
+            0.30876216292381287,
+            0.1954648345708847,
+            0.19043707847595215,
+            0.10368560254573822,
+            0.42329666018486023,
+            0.20888257026672363,
+            0.20670805871486664,
+            4.191265106201172,
+            0.27465298771858215,
+            0.13453827798366547,
+            0.29206204414367676,
+            0.09339439868927002,
+            0.13467912375926971,
+            0.15275976061820984,
+            0.18669521808624268,
+            3.844071865081787
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            -0.8198868238925934,
+            -0.3123779574036598,
+            0.1498246169090271,
+            0.013050417359918355,
+            -0.9812247204780579,
+            -0.6821903467178345,
+            -0.5850118160247803,
+            -1.0153693437576294,
+            -0.65321093916893,
+            -0.45187278687953947,
+            -0.15939653366804124,
+            0.5209980320930481,
+            -0.8004646337032318,
+            -0.6622074031829834,
+            -0.29790515571832654,
+            -0.3845026299357414
+        ],
+        "q10": [
+            -0.4047326982021332,
+            -0.191942036151886,
+            0.20964050491650899,
+            0.11725384145975112,
+            0.5769115209579467,
+            -0.576285719871521,
+            0.17665742635726928,
+            -0.9898167252540588,
+            -0.24161744117736816,
+            -0.08970418572425842,
+            -0.009793341159820555,
+            0.5756626844406127,
+            -0.6698465704917907,
+            -0.5131197810173035,
+            -0.13290165662765502,
+            0.20096533298492433
+        ],
+        "q50": [
+            -0.1663380265235901,
+            0.15752914547920227,
+            0.48018327355384827,
+            0.2776530981063843,
+            0.7809515794118246,
+            -0.3787568509578705,
+            0.32174017031987506,
+            0.23699939250946045,
+            0.29529064893722534,
+            0.04454165697097778,
+            0.3138396739959717,
+            0.6978933811187744,
+            -0.5967265367507935,
+            -0.2824171781539917,
+            0.22663313150405884,
+            2.273009777069092
+        ],
+        "q90": [
+            0.37245482206344604,
+            0.33686262369155884,
+            0.6984216332435608,
+            0.40200339555740355,
+            0.8782190561294556,
+            -0.11796694993972778,
+            0.4668060660362244,
+            7.834013271331787,
+            0.42698269287745155,
+            0.17285411357879638,
+            0.8289622783660888,
+            0.8235495567321778,
+            -0.34059194326400755,
+            -0.1359894633293152,
+            0.3608826756477356,
+            8.394833755493163
+        ],
+        "q99": [
+            0.5262459933757782,
+            0.47638218998909,
+            0.8335078251361847,
+            0.47630053222179414,
+            0.9347274120648702,
+            0.3578014850616455,
+            0.6015568296114604,
+            16.852849617004395,
+            0.6170302081108093,
+            0.25493817806243896,
+            0.9186831116676331,
+            0.9538682389259339,
+            -0.13991361498832702,
+            0.1780738615989685,
+            0.47701202750205995,
+            18.968297691345214
+        ]
+    },
+    "action": {
+        "min": [
+            -0.8399664759635925,
+            -0.3206823468208313,
+            0.11862509697675705,
+            0.000936304044444114,
+            -0.9873973727226257,
+            -0.7543788552284241,
+            -0.633797824382782,
+            -1.0199999809265137,
+            -0.6869966387748718,
+            -0.49098116159439087,
+            -0.1927027553319931,
+            0.4799843430519104,
+            -0.8084800839424133,
+            -0.7009701132774353,
+            -0.318936824798584,
+            -0.4300000071525574
+        ],
+        "max": [
+            0.5342245697975159,
+            0.5092577934265137,
+            0.8945009708404541,
+            0.4931398034095764,
+            0.9425918459892273,
+            0.428806871175766,
+            0.6296955943107605,
+            18.08333396911621,
+            0.6637833714485168,
+            0.2697046399116516,
+            0.9245060086250305,
+            0.9693377017974854,
+            -0.09357947111129761,
+            0.2395983189344406,
+            0.4866892397403717,
+            19.299999237060547
+        ],
+        "mean": [
+            -0.09418761730194092,
+            0.12617170810699463,
+            0.4558787941932678,
+            0.2671673595905304,
+            0.6647789478302002,
+            -0.35886433720588684,
+            0.2851800322532654,
+            2.4485175609588623,
+            0.18683819472789764,
+            0.029338236898183823,
+            0.323615163564682,
+            0.7002452611923218,
+            -0.5575811266899109,
+            -0.2913428843021393,
+            0.16981883347034454,
+            3.73388409614563
+        ],
+        "std": [
+            0.3082634508609772,
+            0.19549019634723663,
+            0.19066737592220306,
+            0.10383068770170212,
+            0.4229523837566376,
+            0.2096458375453949,
+            0.20726297795772552,
+            4.195780277252197,
+            0.27406051754951477,
+            0.134579598903656,
+            0.29214179515838623,
+            0.09367462992668152,
+            0.1350347101688385,
+            0.1524413824081421,
+            0.18652909994125366,
+            3.820314884185791
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            -0.8198868238925934,
+            -0.3123779574036598,
+            0.1498246169090271,
+            0.013050417359918355,
+            -0.9808277177810669,
+            -0.6821903467178345,
+            -0.5850118160247803,
+            -1.0153693437576294,
+            -0.65321093916893,
+            -0.45187278687953947,
+            -0.15939653366804124,
+            0.5209980320930481,
+            -0.8004646337032318,
+            -0.6622074031829834,
+            -0.29790515571832654,
+            -0.3845026299357414
+        ],
+        "q10": [
+            -0.4047326982021332,
+            -0.191942036151886,
+            0.20964050491650899,
+            0.11725384145975112,
+            0.5768975377082824,
+            -0.576285719871521,
+            0.17665742635726928,
+            -0.9898167252540588,
+            -0.24053680896759033,
+            -0.08970418572425842,
+            -0.009957199295361836,
+            0.5756626844406127,
+            -0.6698465704917907,
+            -0.507852578163147,
+            -0.13290165662765502,
+            0.20096533298492433
+        ],
+        "q50": [
+            -0.1663380265235901,
+            0.15752914547920227,
+            0.48018327355384827,
+            0.2776530981063843,
+            0.7807944814364115,
+            -0.3787568509578705,
+            0.32174017031987506,
+            0.23699939250946045,
+            0.29529064893722534,
+            0.04454165697097778,
+            0.3138396739959717,
+            0.697942316532135,
+            -0.5967265367507935,
+            -0.28204092383384705,
+            0.22663313150405884,
+            2.273009777069092
+        ],
+        "q90": [
+            0.37245482206344604,
+            0.33686262369155884,
+            0.7058700442314148,
+            0.40200339555740355,
+            0.8782846570014954,
+            -0.11796694993972778,
+            0.4668060660362244,
+            7.834013271331787,
+            0.42698269287745155,
+            0.17285411357879638,
+            0.8289622783660888,
+            0.8241367816925049,
+            -0.3394481003284454,
+            -0.1359894633293152,
+            0.3608826756477356,
+            8.394833755493163
+        ],
+        "q99": [
+            0.5262459933757782,
+            0.47638218998909,
+            0.8335078251361847,
+            0.47630053222179414,
+            0.9347354658444722,
+            0.3578014850616455,
+            0.6015568296114604,
+            16.852849617004395,
+            0.6170302081108093,
+            0.25493817806243896,
+            0.9186831116676331,
+            0.9538682389259339,
+            -0.13991361498832702,
+            0.1780738615989685,
+            0.47701202750205995,
+            18.968297691345214
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            36.83333206176758
+        ],
+        "mean": [
+            18.41666603088379
+        ],
+        "std": [
+            10.642487525939941
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            0.3614086538553238
+        ],
+        "q10": [
+            3.66565318107605
+        ],
+        "q50": [
+            18.401933670043945
+        ],
+        "q90": [
+            33.16768035888672
+        ],
+        "q99": [
+            36.47192436218262
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1105
+        ],
+        "mean": [
+            552.5
+        ],
+        "std": [
+            319.2745683577068
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            10.842259999901964
+        ],
+        "q10": [
+            109.96959999991992
+        ],
+        "q50": [
+            552.058
+        ],
+        "q90": [
+            995.0304000000801
+        ],
+        "q99": [
+            1094.157740000098
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1105
+        ],
+        "mean": [
+            552.5
+        ],
+        "std": [
+            319.2745683577068
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            10.842259999901964
+        ],
+        "q10": [
+            109.96959999991992
+        ],
+        "q50": [
+            552.058
+        ],
+        "q90": [
+            995.0304000000801
+        ],
+        "q99": [
+            1094.157740000098
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1106
+        ],
+        "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": [
+            [
+                [
+                    0.3689703557129524
+                ]
+            ],
+            [
+                [
+                    0.3575744154637225
+                ]
+            ],
+            [
+                [
+                    0.39578122707646307
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            [
+                [
+                    0.0038020665606069374
+                ]
+            ],
+            [
+                [
+                    0.0038053057709418066
+                ]
+            ],
+            [
+                [
+                    0.0038050477403447584
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.00392142859173066
+                ]
+            ],
+            [
+                [
+                    0.003923630539108557
+                ]
+            ],
+            [
+                [
+                    0.003924317656179983
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.41567707952151745
+                ]
+            ],
+            [
+                [
+                    0.3883961274336456
+                ]
+            ],
+            [
+                [
+                    0.4312865301190692
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7255819598789631
+                ]
+            ],
+            [
+                [
+                    0.6981591033341672
+                ]
+            ],
+            [
+                [
+                    0.7568086999334198
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9999045101728282
+                ]
+            ],
+            [
+                [
+                    0.9999151669634476
+                ]
+            ],
+            [
+                [
+                    0.9999325100149018
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3455928171293687
+                ]
+            ],
+            [
+                [
+                    0.33417555670643845
+                ]
+            ],
+            [
+                [
+                    0.3650311270327926
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1106
+        ],
+        "q01": [
+            [
+                [
+                    0.003802143316647378
+                ]
+            ],
+            [
+                [
+                    0.003806632014582614
+                ]
+            ],
+            [
+                [
+                    0.0038050115685787636
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003927293043727471
+                ]
+            ],
+            [
+                [
+                    0.003930582083512823
+                ]
+            ],
+            [
+                [
+                    0.00392972194058797
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3921894899017565
+                ]
+            ],
+            [
+                [
+                    0.38426816244740725
+                ]
+            ],
+            [
+                [
+                    0.3882153667008853
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6785620336803753
+                ]
+            ],
+            [
+                [
+                    0.6549777810335282
+                ]
+            ],
+            [
+                [
+                    0.7214939926270928
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.792062309928629
+                ]
+            ],
+            [
+                [
+                    0.7724894180949619
+                ]
+            ],
+            [
+                [
+                    0.8862517585897968
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00510/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3608b886ffc36ca06a6812340fb4da249fc7d88d87b69481d3f4b1c73163a95d
+size 2251

official_data/umi_data/batch2/fold_clothes_e00510/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c52f02b641c1b56fc467dce64d53b9365bb6ccce43100dcd70561bd898629a
+size 881621

official_data/umi_data/batch2/fold_clothes_e00510/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddad7ef2bc0dc48ce6fc3b5cefebc54112284742d43597525fab939b94b924f9
+size 881624

official_data/umi_data/batch2/fold_clothes_e00510/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9098ff4995d99feb0ef1e589a29bd316fa46077058feef21e8d1a2578dab3c9d
+size 28387263

official_data/umi_data/batch2/fold_clothes_e00510/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbab72c2b8072739578833394fc039d3075810eb51b60e06209fdad264d89d53
+size 30152652

official_data/umi_data/batch2/fold_clothes_e00631/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1285, "instruction": "fold the white green sleeve short sleeve", "instruction_zh": "fold the white green sleeve short sleeve", "target_objects": ["白色袖绿短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00631/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7784eaab8bcffafbe87947b24389900cd0c047e8ea7b32f9f9dfca15a7cf32b
+size 258906

official_data/umi_data/batch2/fold_clothes_e00631/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "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"
+ ],
+ "fps": 30.0,
+ "n_episodes": 1,
+ "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"
+ ],
+ "episodes": []
+}

official_data/umi_data/batch2/fold_clothes_e00631/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "5f9353f9ec2441f6"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:48:50+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00631/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": [
+     -0.0034029468771014423,
+     -0.006794012810818004,
+     0.0012770415392097147
+    ],
+    "accel_bias_m_s2": [
+     0.04315766556136603,
+     0.012773027894795362,
+     -0.1268851643784737
+    ],
+    "gravity_vector_camera_frame": [
+     0.07731973077926071,
+     -0.5688596999986626,
+     -0.8187919766031262
+    ],
+    "gravity_magnitude_m_s2": 9.850822846134728,
+    "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": 7112.51,
+      "fy": 7111.42,
+      "cx": 3841.82,
+      "cy": 3859.36,
+      "k1": 0.96749437,
+      "k2": -1.91360009,
+      "k3": 3.80171752,
+      "p1": 0.00174285,
+      "p2": 0.00041042
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.967494,
+      "k2": -1.9136,
+      "k3": 3.801718,
+      "p1": 0.001743,
+      "p2": 0.00041,
+      "fx": 1778.1275,
+      "fy": 1777.855,
+      "cx": 960.455,
+      "cy": 964.84
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.268,
+      "pitch_deg": -0.071,
+      "roll_deg": 90.577,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.967494,
+      "k2": -1.9136,
+      "k3": 3.801718,
+      "p1": 0.001743,
+      "p2": 0.00041,
+      "fx": 889.06375,
+      "fy": 888.9275,
+      "cx": 480.2275,
+      "cy": 482.42
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7089.4,
+      "fy": 7089.35,
+      "cx": 11526.9,
+      "cy": 3874.24,
+      "k1": 0.99325323,
+      "k2": -2.23778534,
+      "k3": 4.78137684,
+      "p1": 0.00125329,
+      "p2": 0.00190125
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.993253,
+      "k2": -2.237785,
+      "k3": 4.781377,
+      "p1": 0.001253,
+      "p2": 0.001901,
+      "fx": 1772.35,
+      "fy": 1772.3375,
+      "cx": 961.725,
+      "cy": 968.56
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.409,
+      "pitch_deg": 0.017,
+      "roll_deg": 89.27,
+      "t_m": [
+       0.000668,
+       -0.000368,
+       -0.032995
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0012391834517724374,
+      0.00467746174774516,
+      0.9999882928194564
+     ],
+     [
+      0.9999485246928967,
+      -0.010076065345582363,
+      -0.001192003209198736
+     ],
+     [
+      0.010070371833852065,
+      0.9999382952256353,
+      -0.0046897070674004546
+     ]
+    ],
+    "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": [
+     -0.0033130187679714413,
+     -0.00683684798435499,
+     -0.0007508533927175543
+    ],
+    "accel_bias_m_s2": [
+     -0.030192442930383857,
+     -0.040168242621054666,
+     -0.03507977648903129
+    ],
+    "gravity_vector_camera_frame": [
+     0.006969712044564634,
+     -0.5328824809429832,
+     -0.8461605548700948
+    ],
+    "gravity_magnitude_m_s2": 9.86191611886412,
+    "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": 7108.5,
+      "fy": 7108.45,
+      "cx": 3819.14,
+      "cy": 3857.32,
+      "k1": 0.97528142,
+      "k2": -2.0734899,
+      "k3": 4.09634972,
+      "p1": 0.00166681,
+      "p2": 0.00061366
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975281,
+      "k2": -2.07349,
+      "k3": 4.09635,
+      "p1": 0.001667,
+      "p2": 0.000614,
+      "fx": 1777.125,
+      "fy": 1777.1125,
+      "cx": 954.785,
+      "cy": 964.33
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.27,
+      "pitch_deg": -0.015,
+      "roll_deg": 90.543,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.975281,
+      "k2": -2.07349,
+      "k3": 4.09635,
+      "p1": 0.001667,
+      "p2": 0.000614,
+      "fx": 888.5625,
+      "fy": 888.55625,
+      "cx": 477.3925,
+      "cy": 482.165
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7149.59,
+      "fy": 7148.89,
+      "cx": 11519.2,
+      "cy": 3831.25,
+      "k1": 0.9654876,
+      "k2": -1.97057736,
+      "k3": 3.86157012,
+      "p1": 0.00151518,
+      "p2": -0.00023918
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.965488,
+      "k2": -1.970577,
+      "k3": 3.86157,
+      "p1": 0.001515,
+      "p2": -0.000239,
+      "fx": 1787.3975,
+      "fy": 1787.2225,
+      "cx": 959.8,
+      "cy": 957.8125
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.318,
+      "pitch_deg": 0.01,
+      "roll_deg": 88.92,
+      "t_m": [
+       0.002478,
+       -0.000433,
+       -0.033181
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0002617993848085748,
+      0.004712371377882996,
+      0.9999888624465167
+     ],
+     [
+      0.9999550579973974,
+      -0.009478124387093334,
+      -0.00021712559519011668
+     ],
+     [
+      0.009476995647535957,
+      0.9999439777878055,
+      -0.004714640961609947
+     ]
+    ],
+    "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_e00631/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba9143356b26f5f0d475f03c3845acec113afd5791910467ae69f8ede64ad0d
+size 54477

official_data/umi_data/batch2/fold_clothes_e00631/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 1285,
+    "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_e00631/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.42344218492507935,
+            -0.7476646304130554,
+            -0.03216446191072464,
+            0.28009033203125,
+            -0.931727409362793,
+            -0.20055197179317474,
+            -0.5337450504302979,
+            -0.8899999856948853,
+            -0.44284388422966003,
+            -0.8865916132926941,
+            -0.398552805185318,
+            0.22055119276046753,
+            -0.7900867462158203,
+            -0.8387296795845032,
+            -0.7555201053619385,
+            -1.0199999809265137
+        ],
+        "max": [
+            0.8271889686584473,
+            0.10578122735023499,
+            1.1060525178909302,
+            0.8578484058380127,
+            -0.16361188888549805,
+            0.796235978603363,
+            0.49961617588996887,
+            21.866666793823242,
+            1.0256810188293457,
+            -0.40723490715026855,
+            0.5906730890274048,
+            0.8864753246307373,
+            -0.12061149626970291,
+            -0.00029625443858094513,
+            0.4589309096336365,
+            20.420000076293945
+        ],
+        "mean": [
+            -0.016084201633930206,
+            -0.17739391326904297,
+            0.6592768430709839,
+            0.5328183174133301,
+            -0.7078429460525513,
+            0.2531505525112152,
+            -0.2203904241323471,
+            4.122643947601318,
+            0.43292754888534546,
+            -0.635628879070282,
+            0.3491091728210449,
+            0.5753307342529297,
+            -0.5709750652313232,
+            -0.4718870222568512,
+            -0.12811435759067535,
+            3.1944658756256104
+        ],
+        "std": [
+            0.2570394277572632,
+            0.1916942447423935,
+            0.25198838114738464,
+            0.10697232931852341,
+            0.12728509306907654,
+            0.21234601736068726,
+            0.17225033044815063,
+            3.994295835494995,
+            0.2919125258922577,
+            0.10638776421546936,
+            0.21171104907989502,
+            0.11421581357717514,
+            0.11995705217123032,
+            0.13631466031074524,
+            0.24057216942310333,
+            4.170936584472656
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            -0.42047819346189497,
+            -0.6859007745981216,
+            -0.013970064232125878,
+            0.3056098952889442,
+            -0.9031765788793564,
+            -0.13479387536644935,
+            -0.4614407792687416,
+            -0.8633746922016143,
+            -0.4284963980317116,
+            -0.8596661299467087,
+            -0.375434598326683,
+            0.23832137361168862,
+            -0.7789835005998611,
+            -0.807732817530632,
+            -0.6576717644929886,
+            -0.9930570552746455
+        ],
+        "q10": [
+            -0.3117608278989792,
+            -0.4005255103111267,
+            0.3401463180780411,
+            0.3961908146739006,
+            -0.8230390846729279,
+            -0.020781271159648895,
+            -0.3966696932911873,
+            -0.617375123500824,
+            0.04103505611419678,
+            -0.7771225074927012,
+            0.0263197124004364,
+            0.4474315494298935,
+            -0.7198253124952316,
+            -0.6347388327121735,
+            -0.47801804542541504,
+            -0.7406367659568787
+        ],
+        "q50": [
+            -0.09240014851093292,
+            -0.15375164151191711,
+            0.645586833357811,
+            0.5285840630531311,
+            -0.7330543249845505,
+            0.26365217566490173,
+            -0.25365249812602997,
+            4.091434478759766,
+            0.46492473781108856,
+            -0.6357682198286057,
+            0.4147392362356186,
+            0.5786629716555277,
+            -0.5780973732471466,
+            -0.46235689520835876,
+            -0.10080954432487488,
+            1.833664059638977
+        ],
+        "q90": [
+            0.33706653118133545,
+            0.031958192586898804,
+            1.004637360572815,
+            0.673601359128952,
+            -0.5316160321235657,
+            0.5315887629985809,
+            0.002466052770614624,
+            9.24809455871582,
+            0.7781610488891602,
+            -0.4748721271753311,
+            0.5138761401176453,
+            0.6900610029697418,
+            -0.4426960200071335,
+            -0.320829302072525,
+            0.1658838987350464,
+            9.101823806762695
+        ],
+        "q99": [
+            0.7659454584121704,
+            0.09880861341953279,
+            1.1003956019878387,
+            0.806560805439949,
+            -0.2250381290912628,
+            0.7390501946210861,
+            0.4132581382989884,
+            13.506549787521363,
+            0.985193681716919,
+            -0.4384745791554451,
+            0.5827889442443848,
+            0.8609238415956497,
+            -0.14134514033794401,
+            -0.07707155048847197,
+            0.33460756540298464,
+            16.16265907287598
+        ]
+    },
+    "action": {
+        "min": [
+            -0.42344218492507935,
+            -0.7476646304130554,
+            -0.03216446191072464,
+            0.28009033203125,
+            -0.931727409362793,
+            -0.20055197179317474,
+            -0.5337450504302979,
+            -0.8899999856948853,
+            -0.44284388422966003,
+            -0.8865916132926941,
+            -0.398552805185318,
+            0.22055119276046753,
+            -0.7900867462158203,
+            -0.8387296795845032,
+            -0.7555201053619385,
+            -1.0199999809265137
+        ],
+        "max": [
+            0.8271889686584473,
+            0.10578122735023499,
+            1.1060525178909302,
+            0.8578484058380127,
+            -0.16361188888549805,
+            0.796235978603363,
+            0.49961617588996887,
+            21.866666793823242,
+            1.0256810188293457,
+            -0.40854379534721375,
+            0.5906730890274048,
+            0.8864753246307373,
+            -0.12061149626970291,
+            -0.00029625443858094513,
+            0.4589309096336365,
+            20.420000076293945
+        ],
+        "mean": [
+            -0.01609514094889164,
+            -0.1774091124534607,
+            0.6591287851333618,
+            0.5326058864593506,
+            -0.7080560326576233,
+            0.25300756096839905,
+            -0.22008976340293884,
+            4.1186747550964355,
+            0.43274766206741333,
+            -0.6356467008590698,
+            0.3490498661994934,
+            0.5754756331443787,
+            -0.570845901966095,
+            -0.4718422591686249,
+            -0.12832660973072052,
+            3.194504976272583
+        ],
+        "std": [
+            0.257040798664093,
+            0.19170597195625305,
+            0.25215861201286316,
+            0.10670118778944016,
+            0.12724529206752777,
+            0.2125328928232193,
+            0.17259280383586884,
+            3.9898624420166016,
+            0.2919500470161438,
+            0.10635189712047577,
+            0.21179580688476562,
+            0.11400779336690903,
+            0.11993592977523804,
+            0.13626141846179962,
+            0.24064616858959198,
+            4.170957088470459
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            -0.42047819346189497,
+            -0.6859007745981216,
+            -0.013970064232125878,
+            0.3056098952889442,
+            -0.9031765788793564,
+            -0.13479387536644935,
+            -0.4614407792687416,
+            -0.8633746922016143,
+            -0.4284963980317116,
+            -0.8597396969795227,
+            -0.375434598326683,
+            0.23832137361168862,
+            -0.7789835005998611,
+            -0.807732817530632,
+            -0.6576717644929886,
+            -0.9930570552746455
+        ],
+        "q10": [
+            -0.3117608278989792,
+            -0.4005255103111267,
+            0.33923575282096863,
+            0.3961908146739006,
+            -0.8230390846729279,
+            -0.020880945026874542,
+            -0.3966696932911873,
+            -0.617375123500824,
+            0.04103505611419678,
+            -0.7770708799362183,
+            0.016823142766952515,
+            0.4508943557739258,
+            -0.7198253124952316,
+            -0.6340680718421936,
+            -0.47801804542541504,
+            -0.7406367659568787
+        ],
+        "q50": [
+            -0.09240014851093292,
+            -0.15375164151191711,
+            0.645586833357811,
+            0.5285840630531311,
+            -0.7334768176078796,
+            0.26365217566490173,
+            -0.25365249812602997,
+            4.091434478759766,
+            0.4647779017686844,
+            -0.635783851146698,
+            0.4147392362356186,
+            0.5786629716555277,
+            -0.5780304372310638,
+            -0.46235689520835876,
+            -0.1010524332523346,
+            1.833664059638977
+        ],
+        "q90": [
+            0.33706653118133545,
+            0.031958192586898804,
+            1.004637360572815,
+            0.6734858155250549,
+            -0.5316160321235657,
+            0.5315887629985809,
+            0.002879410982131958,
+            9.246577580769857,
+            0.7781610488891602,
+            -0.47484904527664185,
+            0.5138761401176453,
+            0.6900610029697418,
+            -0.4426960200071335,
+            -0.320829302072525,
+            0.1658838987350464,
+            9.101823806762695
+        ],
+        "q99": [
+            0.7659454584121704,
+            0.09880861341953279,
+            1.1003956019878387,
+            0.806560805439949,
+            -0.2250381290912628,
+            0.7390501946210861,
+            0.4132581382989884,
+            13.506549787521363,
+            0.985193681716919,
+            -0.4384552478790283,
+            0.5827889442443848,
+            0.8609238415956497,
+            -0.14134514033794401,
+            -0.07707155048847197,
+            0.33460756540298464,
+            16.16265907287598
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            42.79999923706055
+        ],
+        "mean": [
+            21.399999618530273
+        ],
+        "std": [
+            12.36491584777832
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            0.40103599727153777
+        ],
+        "q10": [
+            4.267159938812256
+        ],
+        "q50": [
+            21.404279708862305
+        ],
+        "q90": [
+            38.532840728759766
+        ],
+        "q99": [
+            42.39896240234375
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1284
+        ],
+        "mean": [
+            642.0
+        ],
+        "std": [
+            370.9474356293625
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            12.031079999901875
+        ],
+        "q10": [
+            128.01479999991994
+        ],
+        "q50": [
+            642.1284
+        ],
+        "q90": [
+            1155.98520000008
+        ],
+        "q99": [
+            1271.968920000098
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1284
+        ],
+        "mean": [
+            642.0
+        ],
+        "std": [
+            370.9474356293625
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            12.031079999901875
+        ],
+        "q10": [
+            128.01479999991994
+        ],
+        "q50": [
+            642.1284
+        ],
+        "q90": [
+            1155.98520000008
+        ],
+        "q99": [
+            1271.968920000098
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1285
+        ],
+        "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": [
+            [
+                [
+                    0.3286086284522564
+                ]
+            ],
+            [
+                [
+                    0.3503603998652053
+                ]
+            ],
+            [
+                [
+                    0.3570741917057928
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            [
+                [
+                    0.003801905286401352
+                ]
+            ],
+            [
+                [
+                    0.003805013644197043
+                ]
+            ],
+            [
+                [
+                    0.00380230116004588
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003915563213051114
+                ]
+            ],
+            [
+                [
+                    0.003917637766298578
+                ]
+            ],
+            [
+                [
+                    0.003915199118589938
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.35695856841614126
+                ]
+            ],
+            [
+                [
+                    0.3725617325159566
+                ]
+            ],
+            [
+                [
+                    0.3490964785740443
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6353654079911406
+                ]
+            ],
+            [
+                [
+                    0.6863630285278417
+                ]
+            ],
+            [
+                [
+                    0.7373110546242876
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9998918965749527
+                ]
+            ],
+            [
+                [
+                    0.9998858257620498
+                ]
+            ],
+            [
+                [
+                    0.9999082550390678
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.32492556659272603
+                ]
+            ],
+            [
+                [
+                    0.3483370323907767
+                ]
+            ],
+            [
+                [
+                    0.35101445472282594
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1285
+        ],
+        "q01": [
+            [
+                [
+                    0.003803329761262349
+                ]
+            ],
+            [
+                [
+                    0.0038057601949614732
+                ]
+            ],
+            [
+                [
+                    0.0038040256716685562
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003922668298537775
+                ]
+            ],
+            [
+                [
+                    0.0039242923731333925
+                ]
+            ],
+            [
+                [
+                    0.0039227523506887435
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.37240561378777076
+                ]
+            ],
+            [
+                [
+                    0.40000976678710226
+                ]
+            ],
+            [
+                [
+                    0.35282445675240504
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6275782083629241
+                ]
+            ],
+            [
+                [
+                    0.6745226115751115
+                ]
+            ],
+            [
+                [
+                    0.7294936796457393
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7295776248023003
+                ]
+            ],
+            [
+                [
+                    0.7803106171607609
+                ]
+            ],
+            [
+                [
+                    0.9098992301310649
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00631/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5848bbe3e52393f282270b99165298e43474a267d15d682ed3c7972edc71d0f1
+size 2296

official_data/umi_data/batch2/fold_clothes_e00631/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de04cff9cf269fbe402b8eb09c3050909973584b1101004d84cbf87c8ab740a
+size 1023956

official_data/umi_data/batch2/fold_clothes_e00631/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5437d7fdb5f33c8ad20ecf92fc2fd0128879b079f532c0cfd23bb66c24121c80
+size 1024150

official_data/umi_data/batch2/fold_clothes_e00631/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2809fe277b46255603a1b46b63fe11eed134d0c912dc1c3e376eabdc36b7c25
+size 42874353

official_data/umi_data/batch2/fold_clothes_e00631/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5eecd1173f65738df123af2b499d5209acca7654eecaaf4c7c3f5791145b824
+size 40465833

official_data/umi_data/batch2/fold_clothes_e00732/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1114, "instruction": "fold the white patterned short sleeve", "instruction_zh": "fold the white patterned short sleeve", "target_objects": ["白色带花纹短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00732/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7911302d3018f8674b3bae41fd0de0a799e074e84f793a9ee52f1e6ff858d92
+size 224429

official_data/umi_data/batch2/fold_clothes_e00732/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "n_episodes": 1,
+ "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"
+ ],
+ "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_e00732/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "e602a5c914ae04fd"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:46:46+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00732/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": [
+     -0.0034029468771014423,
+     -0.006794012810818004,
+     0.0012770415392097147
+    ],
+    "accel_bias_m_s2": [
+     0.04315766556136603,
+     0.012773027894795362,
+     -0.1268851643784737
+    ],
+    "gravity_vector_camera_frame": [
+     0.8974686505002251,
+     -0.32452192040369465,
+     -0.29872319050720314
+    ],
+    "gravity_magnitude_m_s2": 9.90153642407022,
+    "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": 7112.51,
+      "fy": 7111.42,
+      "cx": 3841.82,
+      "cy": 3859.36,
+      "k1": 0.96749437,
+      "k2": -1.91360009,
+      "k3": 3.80171752,
+      "p1": 0.00174285,
+      "p2": 0.00041042
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.967494,
+      "k2": -1.9136,
+      "k3": 3.801718,
+      "p1": 0.001743,
+      "p2": 0.00041,
+      "fx": 1778.1275,
+      "fy": 1777.855,
+      "cx": 960.455,
+      "cy": 964.84
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.268,
+      "pitch_deg": -0.071,
+      "roll_deg": 90.577,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.967494,
+      "k2": -1.9136,
+      "k3": 3.801718,
+      "p1": 0.001743,
+      "p2": 0.00041,
+      "fx": 889.06375,
+      "fy": 888.9275,
+      "cx": 480.2275,
+      "cy": 482.42
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7089.4,
+      "fy": 7089.35,
+      "cx": 11526.9,
+      "cy": 3874.24,
+      "k1": 0.99325323,
+      "k2": -2.23778534,
+      "k3": 4.78137684,
+      "p1": 0.00125329,
+      "p2": 0.00190125
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.993253,
+      "k2": -2.237785,
+      "k3": 4.781377,
+      "p1": 0.001253,
+      "p2": 0.001901,
+      "fx": 1772.35,
+      "fy": 1772.3375,
+      "cx": 961.725,
+      "cy": 968.56
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.409,
+      "pitch_deg": 0.017,
+      "roll_deg": 89.27,
+      "t_m": [
+       0.000668,
+       -0.000368,
+       -0.032995
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0012391834517724374,
+      0.00467746174774516,
+      0.9999882928194564
+     ],
+     [
+      0.9999485246928967,
+      -0.010076065345582363,
+      -0.001192003209198736
+     ],
+     [
+      0.010070371833852065,
+      0.9999382952256353,
+      -0.0046897070674004546
+     ]
+    ],
+    "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": [
+     -0.0033130187679714413,
+     -0.00683684798435499,
+     -0.0007508533927175543
+    ],
+    "accel_bias_m_s2": [
+     -0.030192442930383857,
+     -0.040168242621054666,
+     -0.03507977648903129
+    ],
+    "gravity_vector_camera_frame": [
+     -0.03579913751223672,
+     -0.7688195565146952,
+     -0.6384629286606444
+    ],
+    "gravity_magnitude_m_s2": 9.768572282322717,
+    "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": 7108.5,
+      "fy": 7108.45,
+      "cx": 3819.14,
+      "cy": 3857.32,
+      "k1": 0.97528142,
+      "k2": -2.0734899,
+      "k3": 4.09634972,
+      "p1": 0.00166681,
+      "p2": 0.00061366
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975281,
+      "k2": -2.07349,
+      "k3": 4.09635,
+      "p1": 0.001667,
+      "p2": 0.000614,
+      "fx": 1777.125,
+      "fy": 1777.1125,
+      "cx": 954.785,
+      "cy": 964.33
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.27,
+      "pitch_deg": -0.015,
+      "roll_deg": 90.543,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.975281,
+      "k2": -2.07349,
+      "k3": 4.09635,
+      "p1": 0.001667,
+      "p2": 0.000614,
+      "fx": 888.5625,
+      "fy": 888.55625,
+      "cx": 477.3925,
+      "cy": 482.165
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7149.59,
+      "fy": 7148.89,
+      "cx": 11519.2,
+      "cy": 3831.25,
+      "k1": 0.9654876,
+      "k2": -1.97057736,
+      "k3": 3.86157012,
+      "p1": 0.00151518,
+      "p2": -0.00023918
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.965488,
+      "k2": -1.970577,
+      "k3": 3.86157,
+      "p1": 0.001515,
+      "p2": -0.000239,
+      "fx": 1787.3975,
+      "fy": 1787.2225,
+      "cx": 959.8,
+      "cy": 957.8125
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.318,
+      "pitch_deg": 0.01,
+      "roll_deg": 88.92,
+      "t_m": [
+       0.002478,
+       -0.000433,
+       -0.033181
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0002617993848085748,
+      0.004712371377882996,
+      0.9999888624465167
+     ],
+     [
+      0.9999550579973974,
+      -0.009478124387093334,
+      -0.00021712559519011668
+     ],
+     [
+      0.009476995647535957,
+      0.9999439777878055,
+      -0.004714640961609947
+     ]
+    ],
+    "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_e00732/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:569db82b161d61eb2457a33b5ee8f925acde5d95672403b76816a60ed97cb7e5
+size 54500

official_data/umi_data/batch2/fold_clothes_e00732/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 1114,
+    "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_e00732/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.8938902020454407,
+            -1.2244651317596436,
+            -0.0906819999217987,
+            0.10771573334932327,
+            0.14971323311328888,
+            -0.550227701663971,
+            0.12639091908931732,
+            -0.8799999952316284,
+            -0.4815746247768402,
+            -1.1448298692703247,
+            -0.36157557368278503,
+            0.4175017774105072,
+            0.16410131752490997,
+            -0.6220101714134216,
+            -0.849730908870697,
+            -1.0299999713897705
+        ],
+        "max": [
+            0.34200072288513184,
+            0.33828282356262207,
+            0.9065530896186829,
+            0.9260059595108032,
+            0.8719074726104736,
+            0.4564715623855591,
+            0.8001270294189453,
+            17.690000534057617,
+            1.111354947090149,
+            0.3210858106613159,
+            0.37971627712249756,
+            0.9703508615493774,
+            0.9057862758636475,
+            0.18526796996593475,
+            0.5024819374084473,
+            26.143333435058594
+        ],
+        "mean": [
+            -0.3325803279876709,
+            -0.48839861154556274,
+            0.35022497177124023,
+            0.677550196647644,
+            0.45891273021698,
+            -0.10854197293519974,
+            0.4564191699028015,
+            3.716686487197876,
+            0.45316094160079956,
+            -0.42489442229270935,
+            0.06220339983701706,
+            0.8091392517089844,
+            0.4031854271888733,
+            -0.21853657066822052,
+            -0.11081763356924057,
+            2.465897560119629
+        ],
+        "std": [
+            0.2568765878677368,
+            0.3657872974872589,
+            0.22506721317768097,
+            0.15075461566448212,
+            0.15774540603160858,
+            0.1936981976032257,
+            0.15841467678546906,
+            4.779109001159668,
+            0.3399863839149475,
+            0.3293325901031494,
+            0.14740921556949615,
+            0.1324644535779953,
+            0.16237397491931915,
+            0.18792177736759186,
+            0.20849432051181793,
+            4.531992435455322
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            -0.7687834239006043,
+            -1.2084813022613525,
+            -0.044581818133592604,
+            0.1414522024989128,
+            0.17587688595056533,
+            -0.47348902106285096,
+            0.16373476207256318,
+            -0.8486983966827393,
+            -0.4286447584629059,
+            -1.1330614972114563,
+            -0.3243419677019119,
+            0.4326653301715851,
+            0.1837025687098503,
+            -0.5942172253131867,
+            -0.779107551574707,
+            -1.0200653648376465
+        ],
+        "q10": [
+            -0.6001436829566955,
+            -0.9111654043197632,
+            0.10266193151473998,
+            0.46226450204849245,
+            0.2560779988765717,
+            -0.37941097021102904,
+            0.2394977331161499,
+            -0.6278936457633972,
+            -0.04498447179794311,
+            -0.9688027143478394,
+            -0.15721622705459595,
+            0.605514669418335,
+            0.23921917378902435,
+            -0.4845468640327454,
+            -0.3668827414512634,
+            -0.9468495607376098
+        ],
+        "q50": [
+            -0.3859390616416931,
+            -0.5002877116203308,
+            0.3067494034767151,
+            0.7017398873964945,
+            0.45621246099472046,
+            -0.10083714127540588,
+            0.4642021656036377,
+            1.2444080114364624,
+            0.5312099456787109,
+            -0.3756639063358307,
+            0.09130435188611348,
+            0.8507143259048462,
+            0.36064785718917847,
+            -0.21594926714897156,
+            -0.0797809362411499,
+            -0.12784528732299805
+        ],
+        "q90": [
+            0.09786272644996644,
+            0.040610575675964364,
+            0.7024389266967773,
+            0.8323280572891235,
+            0.6551914095878602,
+            0.14371024370193483,
+            0.6741787970066071,
+            10.95131778717041,
+            0.8143054485321045,
+            -0.02029664516448974,
+            0.2497826635837555,
+            0.9406739234924316,
+            0.6961267828941345,
+            0.02051862478256226,
+            0.0989275336265564,
+            9.038263702392578
+        ],
+        "q99": [
+            0.32614661931991573,
+            0.31854843139648437,
+            0.8746136164665222,
+            0.914526972770691,
+            0.864954160451889,
+            0.38134366750717164,
+            0.7762578999996185,
+            16.61984878540039,
+            1.0791331434249878,
+            0.2914333033561706,
+            0.30927283644676207,
+            0.9528652691841125,
+            0.8882617676258087,
+            0.16038118243217467,
+            0.3807449150085449,
+            20.474214820861818
+        ]
+    },
+    "action": {
+        "min": [
+            -0.8938902020454407,
+            -1.2244651317596436,
+            -0.0906819999217987,
+            0.10771573334932327,
+            0.14971323311328888,
+            -0.550227701663971,
+            0.12639091908931732,
+            -0.8799999952316284,
+            -0.4815746247768402,
+            -1.1448298692703247,
+            -0.36157557368278503,
+            0.4175017774105072,
+            0.16410131752490997,
+            -0.6220101714134216,
+            -0.849730908870697,
+            -1.0299999713897705
+        ],
+        "max": [
+            0.34200072288513184,
+            0.33828282356262207,
+            0.9065530896186829,
+            0.9260059595108032,
+            0.8719074726104736,
+            0.4564715623855591,
+            0.8001270294189453,
+            17.690000534057617,
+            1.111354947090149,
+            0.3210858106613159,
+            0.37971627712249756,
+            0.9703508615493774,
+            0.9057862758636475,
+            0.18526796996593475,
+            0.5017489194869995,
+            26.143333435058594
+        ],
+        "mean": [
+            -0.33349931240081787,
+            -0.48799386620521545,
+            0.3497583866119385,
+            0.6774871945381165,
+            0.4591991901397705,
+            -0.10827835649251938,
+            0.4560706317424774,
+            3.7155709266662598,
+            0.4524182379245758,
+            -0.4251808822154999,
+            0.06214627996087074,
+            0.8091211318969727,
+            0.40318524837493896,
+            -0.21874397993087769,
+            -0.11164957284927368,
+            2.4688539505004883
+        ],
+        "std": [
+            0.25700223445892334,
+            0.3660925626754761,
+            0.2250278890132904,
+            0.1507849544286728,
+            0.15793044865131378,
+            0.19404254853725433,
+            0.15840357542037964,
+            4.778204441070557,
+            0.34048497676849365,
+            0.3294329345226288,
+            0.14731460809707642,
+            0.1324676126241684,
+            0.16237416863441467,
+            0.1879294216632843,
+            0.20789362490177155,
+            4.534826755523682
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            -0.78831050157547,
+            -1.2084813022613525,
+            -0.044581818133592604,
+            0.1414522024989128,
+            0.17587688595056533,
+            -0.47348902106285096,
+            0.16373476207256318,
+            -0.8486983966827393,
+            -0.4286447584629059,
+            -1.1330614972114563,
+            -0.3243419677019119,
+            0.4326653301715851,
+            0.1837025687098503,
+            -0.5942172253131867,
+            -0.7791458427906036,
+            -1.0200653648376465
+        ],
+        "q10": [
+            -0.6013795614242554,
+            -0.9111654043197632,
+            0.10266193151473998,
+            0.46226450204849245,
+            0.2560779988765717,
+            -0.37941097021102904,
+            0.2394977331161499,
+            -0.6278936457633972,
+            -0.04753315448760986,
+            -0.9688027143478394,
+            -0.15721622705459595,
+            0.605514669418335,
+            0.23921917378902435,
+            -0.4845468640327454,
+            -0.3698474884033203,
+            -0.9468495607376098
+        ],
+        "q50": [
+            -0.3860626518726349,
+            -0.5002877116203308,
+            0.30668291449546814,
+            0.7017398873964945,
+            0.45635688304901123,
+            -0.10083714127540588,
+            0.4641572634379069,
+            1.2444080114364624,
+            0.5308914184570312,
+            -0.3756639063358307,
+            0.09130435188611348,
+            0.8507143259048462,
+            0.36064785718917847,
+            -0.21627217531204224,
+            -0.08019834756851196,
+            -0.12784528732299805
+        ],
+        "q90": [
+            0.09348769187927247,
+            0.040610575675964364,
+            0.7024389266967773,
+            0.8323280572891235,
+            0.6559135794639588,
+            0.1444552183151245,
+            0.6741787970066071,
+            10.95131778717041,
+            0.8143054485321045,
+            -0.02029664516448974,
+            0.2497826635837555,
+            0.9406739234924316,
+            0.6961267828941345,
+            0.02051862478256226,
+            0.0986114223798116,
+            9.038263702392578
+        ],
+        "q99": [
+            0.32614661931991573,
+            0.31854843139648437,
+            0.8746136164665222,
+            0.914526972770691,
+            0.864954160451889,
+            0.38134366750717164,
+            0.7762578999996185,
+            16.61984878540039,
+            1.0791331434249878,
+            0.2914333033561706,
+            0.2977086496353149,
+            0.9528652691841125,
+            0.8882617676258087,
+            0.16038118243217467,
+            0.3627788996696472,
+            20.474214820861818
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            37.099998474121094
+        ],
+        "mean": [
+            18.549999237060547
+        ],
+        "std": [
+            10.719466209411621
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            0.3646187889575958
+        ],
+        "q10": [
+            3.698127841949463
+        ],
+        "q50": [
+            18.535160064697266
+        ],
+        "q90": [
+            33.40187072753906
+        ],
+        "q99": [
+            36.73538093566894
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1113
+        ],
+        "mean": [
+            556.5
+        ],
+        "std": [
+            321.5839703716589
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            10.938563999901966
+        ],
+        "q10": [
+            110.94383999991993
+        ],
+        "q50": [
+            556.0547999999999
+        ],
+        "q90": [
+            1002.05616000008
+        ],
+        "q99": [
+            1102.0614360000982
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.959999999999423e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1113
+        ],
+        "mean": [
+            556.5
+        ],
+        "std": [
+            321.5839703716589
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            10.938563999901966
+        ],
+        "q10": [
+            110.94383999991993
+        ],
+        "q50": [
+            556.0547999999999
+        ],
+        "q90": [
+            1002.05616000008
+        ],
+        "q99": [
+            1102.0614360000982
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1114
+        ],
+        "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": [
+            [
+                [
+                    0.33652666094925204
+                ]
+            ],
+            [
+                [
+                    0.35782827458937677
+                ]
+            ],
+            [
+                [
+                    0.36648795085126384
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            [
+                [
+                    0.003801156255739162
+                ]
+            ],
+            [
+                [
+                    0.0038051405472146562
+                ]
+            ],
+            [
+                [
+                    0.0038027354810356495
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003915209437136002
+                ]
+            ],
+            [
+                [
+                    0.003917994102938948
+                ]
+            ],
+            [
+                [
+                    0.003915911833736995
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.376474660996146
+                ]
+            ],
+            [
+                [
+                    0.38427681498482674
+                ]
+            ],
+            [
+                [
+                    0.36070065230505766
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6431017594523989
+                ]
+            ],
+            [
+                [
+                    0.6940742988853812
+                ]
+            ],
+            [
+                [
+                    0.7529338292457177
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9999013825918178
+                ]
+            ],
+            [
+                [
+                    0.9998954420823796
+                ]
+            ],
+            [
+                [
+                    0.999916568290906
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.33508254942884996
+                ]
+            ],
+            [
+                [
+                    0.35879989911134047
+                ]
+            ],
+            [
+                [
+                    0.36079550498619123
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1114
+        ],
+        "q01": [
+            [
+                [
+                    0.0038032971802698145
+                ]
+            ],
+            [
+                [
+                    0.0038057855401543903
+                ]
+            ],
+            [
+                [
+                    0.00380429452519958
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003922675654960958
+                ]
+            ],
+            [
+                [
+                    0.0039243980725854255
+                ]
+            ],
+            [
+                [
+                    0.003923195111068626
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3921578303970385
+                ]
+            ],
+            [
+                [
+                    0.41177806464665856
+                ]
+            ],
+            [
+                [
+                    0.36461802115015846
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6393558242597102
+                ]
+            ],
+            [
+                [
+                    0.6862696990465074
+                ]
+            ],
+            [
+                [
+                    0.7450804829765634
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7332046334354944
+                ]
+            ],
+            [
+                [
+                    0.7842573927528408
+                ]
+            ],
+            [
+                [
+                    0.9177885735578212
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00732/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d816bb2a3a7b78277cde281540ea471231779f4ca737433ccd04955472b3b2
+size 2281

official_data/umi_data/batch2/fold_clothes_e00732/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3615d0c6e7604b575fa7faa761235df554fb0e77c2e2dea977796750b8f3f437
+size 889030

official_data/umi_data/batch2/fold_clothes_e00732/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d0c30ad83cd4438f337ce21d3efde4f438eac38c644fc38b54d32f5c73ed6f4
+size 889124

official_data/umi_data/batch2/fold_clothes_e00732/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd75cc781d8ad9900fc78b9d1f8c01b21d40fc046b15f7c7e77a42b2c7918aef
+size 34150197

official_data/umi_data/batch2/fold_clothes_e00732/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3c5fe25d620081b97aaffd564ab24416b2cd0081ee93851c8e8a6180e0a5ac
+size 33774628

official_data/umi_data/batch2/fold_clothes_e00987/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1624, "instruction": "fold the black t-shirt with pattern", "instruction_zh": "fold the black t-shirt with pattern", "target_objects": ["黑色带花纹短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00987/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1a87ba442b1e3d6bf1a4c8a347d27eab232b8558c95da00c4fd2d95c1c4937
+size 325011

official_data/umi_data/batch2/fold_clothes_e00987/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "img_size": 960,
+ "fps": 30.0,
+ "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,
+ "episodes": []
+}