Add files using upload-large-folder tool

.gitattributes

@@ -14003,3 +14003,16 @@ official_data/umi_data/batch2/fold_clothes_e08592/videos/observation.audio.right
 official_data/umi_data/batch2/fold_clothes_e08592/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e02662/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e02662/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02593/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00807/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00807/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05060/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05060/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05226/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e05226/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07890/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07890/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09097/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e09097/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text

official_data/umi_data/batch2/fold_clothes_e00807/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 576, "instruction": "fold the brown long sleeve", "instruction_zh": "fold the brown long sleeve", "target_objects": ["棕色长袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00807/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f2e9d42e5f62894a7d6890404a292c6eb267c7f4bb112e8efdf03802d30ea2
+size 117830

official_data/umi_data/batch2/fold_clothes_e00807/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00807/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "e0b6d981b0451946"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:47:18+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00807/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": [
+     -0.002518561250610984,
+     -0.0072885972069277535,
+     0.002915579310339975
+    ],
+    "accel_bias_m_s2": [
+     0.0773645481000228,
+     -0.004034349015599402,
+     -0.017035712340228843
+    ],
+    "gravity_vector_camera_frame": [
+     -0.07219799973868488,
+     -0.3667313664114933,
+     -0.9275211877492032
+    ],
+    "gravity_magnitude_m_s2": 9.84011086295303,
+    "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": 7122.31,
+      "fy": 7123.19,
+      "cx": 3850.16,
+      "cy": 3863.11,
+      "k1": 0.97814524,
+      "k2": -2.0472424,
+      "k3": 4.22111225,
+      "p1": -0.00088488,
+      "p2": 0.00103413
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.978145,
+      "k2": -2.047242,
+      "k3": 4.221112,
+      "p1": -0.000885,
+      "p2": 0.001034,
+      "fx": 1780.5775,
+      "fy": 1780.7975,
+      "cx": 962.54,
+      "cy": 965.7775
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.127,
+      "pitch_deg": -0.013,
+      "roll_deg": 90.459,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.978145,
+      "k2": -2.047242,
+      "k3": 4.221112,
+      "p1": -0.000885,
+      "p2": 0.001034,
+      "fx": 890.28875,
+      "fy": 890.39875,
+      "cx": 481.27,
+      "cy": 482.88875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7139.98,
+      "fy": 7138.46,
+      "cx": 11532.2,
+      "cy": 3880.38,
+      "k1": 0.96583682,
+      "k2": -2.02089548,
+      "k3": 3.96132421,
+      "p1": 0.0004576,
+      "p2": -4.547e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.965837,
+      "k2": -2.020895,
+      "k3": 3.961324,
+      "p1": 0.000458,
+      "p2": -4.5e-05,
+      "fx": 1784.995,
+      "fy": 1784.615,
+      "cx": 963.05,
+      "cy": 970.095
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.036,
+      "pitch_deg": -0.079,
+      "roll_deg": 89.418,
+      "t_m": [
+       0.00087,
+       5.8e-05,
+       -0.032965
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.00022689280081250986,
+      0.002216566277914145,
+      0.9999975176737157
+     ],
+     [
+      0.9999678858809576,
+      -0.00801145880629961,
+      -0.0002091281040473422
+     ],
+     [
+      0.008010975372941598,
+      0.999965451084052,
+      -0.002218312837167985
+     ]
+    ],
+    "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": [
+     -0.00297445326267163,
+     -0.009171064165059414,
+     0.0024493848553018027
+    ],
+    "accel_bias_m_s2": [
+     -0.06988166549143597,
+     -0.07039936214310165,
+     -0.03179497198720088
+    ],
+    "gravity_vector_camera_frame": [
+     0.03646008436958326,
+     -0.38363006631440294,
+     -0.9227668364583603
+    ],
+    "gravity_magnitude_m_s2": 9.820992292742698,
+    "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": 7113.44,
+      "fy": 7113.27,
+      "cx": 3855.56,
+      "cy": 3867.51,
+      "k1": 0.95333248,
+      "k2": -1.92126703,
+      "k3": 3.97410965,
+      "p1": 0.00022263,
+      "p2": -4.58e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.953332,
+      "k2": -1.921267,
+      "k3": 3.97411,
+      "p1": 0.000223,
+      "p2": -4.6e-05,
+      "fx": 1778.36,
+      "fy": 1778.3175,
+      "cx": 963.89,
+      "cy": 966.8775
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.025,
+      "pitch_deg": 0.019,
+      "roll_deg": 90.491,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.953332,
+      "k2": -1.921267,
+      "k3": 3.97411,
+      "p1": 0.000223,
+      "p2": -4.6e-05,
+      "fx": 889.18,
+      "fy": 889.15875,
+      "cx": 481.945,
+      "cy": 483.43875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7109.51,
+      "fy": 7110.22,
+      "cx": 11504.2,
+      "cy": 3877.44,
+      "k1": 0.97504234,
+      "k2": -2.02693057,
+      "k3": 4.04262829,
+      "p1": 0.00113811,
+      "p2": -0.00057592
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975042,
+      "k2": -2.026931,
+      "k3": 4.042628,
+      "p1": 0.001138,
+      "p2": -0.000576,
+      "fx": 1777.3775,
+      "fy": 1777.555,
+      "cx": 956.05,
+      "cy": 969.36
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.121,
+      "pitch_deg": 0.227,
+      "roll_deg": 88.944,
+      "t_m": [
+       -0.000178,
+       -0.000385,
+       -0.033242
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      -0.0003316125518011891,
+      0.0004363322751622777,
+      0.9999998498236197
+     ],
+     [
+      0.999963226507196,
+      -0.008569316236085811,
+      0.00033533947685934697
+     ],
+     [
+      0.008569461268613798,
+      0.9999631875391175,
+      -0.00043347453687625704
+     ]
+    ],
+    "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_e00807/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b0e23a1ede59b3e42269e8defad7fa337e8622f51446015d9882158cce8e78
+size 54454

official_data/umi_data/batch2/fold_clothes_e00807/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 576,
+    "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_e00807/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.6164782643318176,
+            -0.1388923078775406,
+            -0.2838068902492523,
+            2.5440567696932703e-05,
+            -0.7231287360191345,
+            -0.6811715960502625,
+            -0.7220076322555542,
+            -0.9599999785423279,
+            -0.06051917374134064,
+            -0.19883456826210022,
+            -0.3495526611804962,
+            0.17300331592559814,
+            -0.49388018250465393,
+            -0.932410478591919,
+            -0.36481261253356934,
+            0.09000000357627869
+        ],
+        "max": [
+            0.02217312715947628,
+            0.44917282462120056,
+            0.6903249025344849,
+            0.8087589144706726,
+            0.7648017406463623,
+            0.9526588916778564,
+            0.24853701889514923,
+            20.719999313354492,
+            0.7807700037956238,
+            0.46388110518455505,
+            0.7680842280387878,
+            0.9681047201156616,
+            0.7964561581611633,
+            -0.24893808364868164,
+            0.4787887632846832,
+            22.110000610351562
+        ],
+        "mean": [
+            -0.3009597063064575,
+            0.1711159646511078,
+            0.2618117928504944,
+            0.47362130880355835,
+            0.21976502239704132,
+            0.7257764935493469,
+            -0.1797746866941452,
+            6.926320552825928,
+            0.31551897525787354,
+            0.15870071947574615,
+            0.3071390390396118,
+            0.6436522603034973,
+            0.1719256043434143,
+            -0.6260836720466614,
+            -0.006680684629827738,
+            5.7043890953063965
+        ],
+        "std": [
+            0.13822022080421448,
+            0.12776434421539307,
+            0.25652721524238586,
+            0.1701512634754181,
+            0.2658878266811371,
+            0.11970710754394531,
+            0.23310506343841553,
+            5.066364765167236,
+            0.18469256162643433,
+            0.12881463766098022,
+            0.2750193476676941,
+            0.1980985701084137,
+            0.27049681544303894,
+            0.14750640094280243,
+            0.17308537662029266,
+            4.83723258972168
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            -0.6055241417884827,
+            -0.08799408853054047,
+            -0.2739174997806549,
+            0.008720942065119744,
+            -0.3681799292564392,
+            0.5503314328193665,
+            -0.70710782289505,
+            -0.7268966460227966,
+            -0.039863842874765396,
+            -0.1665258526802063,
+            -0.34267696738243103,
+            0.19872642993927003,
+            -0.4286510992050171,
+            -0.9301194739341736,
+            -0.33262752413749697,
+            0.29152704000473023
+        ],
+        "q10": [
+            -0.49403603076934816,
+            0.011452434957027436,
+            -0.13718056678771973,
+            0.23271422684192658,
+            -0.07183177471160888,
+            0.6205338358879089,
+            -0.504295039176941,
+            -0.03383048772811889,
+            0.07009937763214111,
+            -0.018231287598609924,
+            -0.12282883673906327,
+            0.3731780290603638,
+            -0.08649517893791199,
+            -0.8397863030433654,
+            -0.2013901501893997,
+            0.48459841012954713
+        ],
+        "q50": [
+            -0.2905105948448181,
+            0.16211863855520883,
+            0.3507426083087921,
+            0.5009549260139465,
+            0.18064028024673462,
+            0.7253931164741516,
+            -0.1488039493560791,
+            6.216079235076904,
+            0.2933270335197449,
+            0.16724959015846252,
+            0.36595848202705383,
+            0.6931586265563965,
+            0.10483589768409729,
+            -0.6200636029243469,
+            -0.040869683027267456,
+            4.445556163787842
+        ],
+        "q90": [
+            -0.11900713443756104,
+            0.3558351516723633,
+            0.5365030209223429,
+            0.6666482448577881,
+            0.616425383090973,
+            0.8511654019355774,
+            0.10939974784851074,
+            13.727764892578126,
+            0.5476319313049316,
+            0.3326236367225647,
+            0.6170691251754761,
+            0.8822973489761352,
+            0.6339770555496216,
+            -0.4338310420513153,
+            0.22931897640228271,
+            12.70041389465332
+        ],
+        "q99": [
+            0.0039383363723754896,
+            0.4446142029762268,
+            0.6775131416320801,
+            0.7892263746261596,
+            0.7446374344825745,
+            0.9488162207603454,
+            0.21015002965927124,
+            20.100991287231444,
+            0.7616289567947387,
+            0.4503935134410858,
+            0.7612085628509522,
+            0.9381484484672546,
+            0.7941955757141114,
+            -0.32149003028869627,
+            0.452846314907074,
+            21.296316452026367
+        ]
+    },
+    "action": {
+        "min": [
+            -0.6164782643318176,
+            -0.1388923078775406,
+            -0.2838068902492523,
+            2.5440567696932703e-05,
+            -0.7231287360191345,
+            -0.6811715960502625,
+            -0.7220076322555542,
+            -0.9433333277702332,
+            -0.06051917374134064,
+            -0.19883456826210022,
+            -0.3495526611804962,
+            0.17300331592559814,
+            -0.49388018250465393,
+            -0.932410478591919,
+            -0.36481261253356934,
+            0.09000000357627869
+        ],
+        "max": [
+            0.02217312715947628,
+            0.44917282462120056,
+            0.6903249025344849,
+            0.8087589144706726,
+            0.7648017406463623,
+            0.9526588916778564,
+            0.24853701889514923,
+            20.719999313354492,
+            0.7807700037956238,
+            0.46388110518455505,
+            0.7680842280387878,
+            0.9681047201156616,
+            0.7964561581611633,
+            -0.24893808364868164,
+            0.4787887632846832,
+            22.110000610351562
+        ],
+        "mean": [
+            -0.3010462522506714,
+            0.17086263000965118,
+            0.2611981928348541,
+            0.4736960828304291,
+            0.22071897983551025,
+            0.7260977029800415,
+            -0.1791481375694275,
+            6.937084197998047,
+            0.31546565890312195,
+            0.1584981381893158,
+            0.307425856590271,
+            0.6439292430877686,
+            0.17234966158866882,
+            -0.6260113716125488,
+            -0.00655793584883213,
+            5.704406261444092
+        ],
+        "std": [
+            0.13822731375694275,
+            0.1276727318763733,
+            0.2565368413925171,
+            0.17015691101551056,
+            0.2648477256298065,
+            0.11972079426050186,
+            0.23270642757415771,
+            5.056173801422119,
+            0.18464259803295135,
+            0.12843459844589233,
+            0.275358647108078,
+            0.19811271131038666,
+            0.2696530520915985,
+            0.14750640094280243,
+            0.17320016026496887,
+            4.837213516235352
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            -0.6055241417884827,
+            -0.08799408853054047,
+            -0.2739174997806549,
+            0.008720942065119744,
+            -0.3681799292564392,
+            0.5503314328193665,
+            -0.70710782289505,
+            -0.6020925402641296,
+            -0.039863842874765396,
+            -0.1665258526802063,
+            -0.34267696738243103,
+            0.19872642993927003,
+            -0.4116186547279358,
+            -0.9301194739341736,
+            -0.33262752413749697,
+            0.29152704000473023
+        ],
+        "q10": [
+            -0.49403603076934816,
+            0.011452434957027436,
+            -0.13718056678771973,
+            0.23271422684192658,
+            -0.0694510817527771,
+            0.6205338358879089,
+            -0.5041591644287109,
+            -0.030007302761077877,
+            0.07009937763214111,
+            -0.018231287598609924,
+            -0.12282883673906327,
+            0.3731780290603638,
+            -0.08649517893791199,
+            -0.8397863030433654,
+            -0.2013901501893997,
+            0.48459841012954713
+        ],
+        "q50": [
+            -0.29076606035232544,
+            0.16184420883655548,
+            0.3503529131412506,
+            0.5011166930198669,
+            0.18302100896835327,
+            0.7255565524101257,
+            -0.14705699682235718,
+            6.214231491088867,
+            0.2933270335197449,
+            0.16724959015846252,
+            0.36595848202705383,
+            0.693476676940918,
+            0.10483589768409729,
+            -0.6191067695617676,
+            -0.040869683027267456,
+            4.445556163787842
+        ],
+        "q90": [
+            -0.11900713443756104,
+            0.3558351516723633,
+            0.5365030209223429,
+            0.6666482448577881,
+            0.616425383090973,
+            0.8511654019355774,
+            0.10939974784851074,
+            13.728807640075683,
+            0.5476319313049316,
+            0.3326236367225647,
+            0.6188573837280273,
+            0.8822973489761352,
+            0.6339770555496216,
+            -0.4338310420513153,
+            0.22931897640228271,
+            12.70041389465332
+        ],
+        "q99": [
+            0.0039383363723754896,
+            0.4446142029762268,
+            0.6775131416320801,
+            0.7892263746261596,
+            0.7446374344825745,
+            0.9488162207603454,
+            0.21015002965927124,
+            20.097134170532225,
+            0.7616289567947387,
+            0.4427060043811798,
+            0.7612085628509522,
+            0.9381484484672546,
+            0.7941955757141114,
+            -0.32149003028869627,
+            0.452846314907074,
+            21.296316452026367
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            19.16666603088379
+        ],
+        "mean": [
+            9.583333015441895
+        ],
+        "std": [
+            5.5425543785095215
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            0.1677466630935669
+        ],
+        "q10": [
+            1.8997999668121337
+        ],
+        "q50": [
+            9.567999839782715
+        ],
+        "q90": [
+            17.26686668395996
+        ],
+        "q99": [
+            18.99891929626465
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            575
+        ],
+        "mean": [
+            287.5
+        ],
+        "std": [
+            166.27662694036908
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            5.0323999999017515
+        ],
+        "q10": [
+            56.99399999991983
+        ],
+        "q50": [
+            287.0399999999999
+        ],
+        "q90": [
+            518.0060000000802
+        ],
+        "q99": [
+            569.9676000000983
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.5999999999994754e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            575
+        ],
+        "mean": [
+            287.5
+        ],
+        "std": [
+            166.27662694036908
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            5.0323999999017515
+        ],
+        "q10": [
+            56.99399999991983
+        ],
+        "q50": [
+            287.0399999999999
+        ],
+        "q90": [
+            518.0060000000802
+        ],
+        "q99": [
+            569.9676000000983
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.5999999999994754e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3623199059192984
+                ]
+            ],
+            [
+                [
+                    0.32436641147406897
+                ]
+            ],
+            [
+                [
+                    0.3153185759330774
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            [
+                [
+                    0.0038048775018587723
+                ]
+            ],
+            [
+                [
+                    0.003805399443994656
+                ]
+            ],
+            [
+                [
+                    0.003803720443523844
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003930364096096402
+                ]
+            ],
+            [
+                [
+                    0.0039297518581933545
+                ]
+            ],
+            [
+                [
+                    0.00392871899043093
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3920795408568647
+                ]
+            ],
+            [
+                [
+                    0.30999269906998356
+                ]
+            ],
+            [
+                [
+                    0.28629432740418154
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7136075911344667
+                ]
+            ],
+            [
+                [
+                    0.6627154606053378
+                ]
+            ],
+            [
+                [
+                    0.6744950352713501
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8313169877232037
+                ]
+            ],
+            [
+                [
+                    0.8039534389769158
+                ]
+            ],
+            [
+                [
+                    0.8822593952220223
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.38177862933627005
+                ]
+            ],
+            [
+                [
+                    0.3513130463173318
+                ]
+            ],
+            [
+                [
+                    0.344565279925295
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            576
+        ],
+        "q01": [
+            [
+                [
+                    0.0038032262840377255
+                ]
+            ],
+            [
+                [
+                    0.003804460916943668
+                ]
+            ],
+            [
+                [
+                    0.003802742776598799
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0039228793476824295
+                ]
+            ],
+            [
+                [
+                    0.003923330936422393
+                ]
+            ],
+            [
+                [
+                    0.0039222078446314495
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3410711547565646
+                ]
+            ],
+            [
+                [
+                    0.2863913546462933
+                ]
+            ],
+            [
+                [
+                    0.2666718245984145
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7843880496236362
+                ]
+            ],
+            [
+                [
+                    0.7491650503926385
+                ]
+            ],
+            [
+                [
+                    0.7647923324856832
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9999143133842573
+                ]
+            ],
+            [
+                [
+                    0.9999018098945289
+                ]
+            ],
+            [
+                [
+                    0.9999311813688232
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00807/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6d43df04f56ac6dd3a49a1cc1bcc32407c9e418d4e731c89f6bff86bdcecdb
+size 2226

official_data/umi_data/batch2/fold_clothes_e00807/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b7f9886c855385102c43ecbd5eccb0262df1a30a0ed499ce70ab0b88ffdbcb
+size 455799

official_data/umi_data/batch2/fold_clothes_e00807/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999193dfba48718ecf36dda0a464f306ddb9d645e5dfbc21ddd4f26b738223d6
+size 456304

official_data/umi_data/batch2/fold_clothes_e00807/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f746b7bc7bbe496817fc477290896caa5384731c37cd135799022517f7f8467
+size 14899576

official_data/umi_data/batch2/fold_clothes_e00807/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f80b90ecb7402540ed41e901bc6d481a4f46372a72b7cd4a38e0e07a9de1e9
+size 17454834

official_data/umi_data/batch2/fold_clothes_e02593/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f6ec103ec77f717da1b0fcb0f8f31d0a76a5d0f497ff62ea1e06de18f20219
+size 983093

official_data/umi_data/batch2/fold_clothes_e02593/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0bb42192cf8a591aeeab8da7b672369bef8fe255d5cc17dbfda877317c4428e
+size 34998619

official_data/umi_data/batch2/fold_clothes_e02593/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ca726b9ceaeb3b1b72c59b0c323bb1a747bdd095c4e629b957fb3e173f52fc
+size 35111731

official_data/umi_data/batch2/fold_clothes_e03212/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 2368, "instruction": "fold the black and white checkered pants", "instruction_zh": "fold the black and white checkered pants", "target_objects": ["黑白格子裤"], "success": null}

official_data/umi_data/batch2/fold_clothes_e03212/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aef57dafce0dadb133d60465a1e7233de5a8b0b5ce3601d03c20c53bcfe2f1f
+size 474077

official_data/umi_data/batch2/fold_clothes_e03212/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,
+ "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_e03212/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "7b41720da7363442"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:55:28+0000"
+}

official_data/umi_data/batch2/fold_clothes_e03212/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": [
+     -0.003989009798283108,
+     -0.005553405402626283,
+     0.0017811925556831686
+    ],
+    "accel_bias_m_s2": [
+     -0.014346010655940808,
+     -0.052378722458224426,
+     0.01566320017318702
+    ],
+    "gravity_vector_camera_frame": [
+     0.9317547684983315,
+     0.1205871450281396,
+     -0.34247889253877106
+    ],
+    "gravity_magnitude_m_s2": 9.910392032494936,
+    "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": 7107.64,
+      "fy": 7106.83,
+      "cx": 3860.55,
+      "cy": 3825.84,
+      "k1": 0.99563682,
+      "k2": -2.21134925,
+      "k3": 4.60615635,
+      "p1": -0.00271782,
+      "p2": 0.00068957
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.995637,
+      "k2": -2.211349,
+      "k3": 4.606156,
+      "p1": -0.002718,
+      "p2": 0.00069,
+      "fx": 1776.91,
+      "fy": 1776.7075,
+      "cx": 965.1375,
+      "cy": 956.46
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.051,
+      "pitch_deg": -0.137,
+      "roll_deg": 90.678,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.995637,
+      "k2": -2.211349,
+      "k3": 4.606156,
+      "p1": -0.002718,
+      "p2": 0.00069,
+      "fx": 888.455,
+      "fy": 888.35375,
+      "cx": 482.56875,
+      "cy": 478.23
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7079.82,
+      "fy": 7078.47,
+      "cx": 11527.0,
+      "cy": 3839.77,
+      "k1": 0.97467947,
+      "k2": -2.18475223,
+      "k3": 4.63020945,
+      "p1": 0.00172411,
+      "p2": 0.00066254
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.974679,
+      "k2": -2.184752,
+      "k3": 4.630209,
+      "p1": 0.001724,
+      "p2": 0.000663,
+      "fx": 1769.955,
+      "fy": 1769.6175,
+      "cx": 961.75,
+      "cy": 959.9425
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.118,
+      "pitch_deg": -0.204,
+      "roll_deg": 88.858,
+      "t_m": [
+       5e-05,
+       -0.000702,
+       -0.032139
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.002391098796766874,
+      0.0008901152564128917,
+      0.9999967451653902
+     ],
+     [
+      0.9999271284593191,
+      -0.0118351796874967,
+      -0.002380397627511988
+     ],
+     [
+      0.011833022337699672,
+      0.999929565627797,
+      -0.0009183494762530664
+     ]
+    ],
+    "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": [
+     -0.0007918741333810983,
+     -0.001865974115970852,
+     0.0014602161779229985
+    ],
+    "accel_bias_m_s2": [
+     -0.07241808752753306,
+     -0.0018182992301401678,
+     0.04983593759705899
+    ],
+    "gravity_vector_camera_frame": [
+     -0.9053617933936459,
+     -0.15382739382576519,
+     -0.3957993885440125
+    ],
+    "gravity_magnitude_m_s2": 9.679031734769405,
+    "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": 7107.86,
+      "fy": 7108.39,
+      "cx": 3855.53,
+      "cy": 3850.24,
+      "k1": 0.95936352,
+      "k2": -1.96223056,
+      "k3": 4.01768875,
+      "p1": -0.00018961,
+      "p2": 0.00067969
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.959364,
+      "k2": -1.962231,
+      "k3": 4.017689,
+      "p1": -0.00019,
+      "p2": 0.00068,
+      "fx": 1776.965,
+      "fy": 1777.0975,
+      "cx": 963.8825,
+      "cy": 962.56
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.055,
+      "pitch_deg": -0.146,
+      "roll_deg": 90.504,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.959364,
+      "k2": -1.962231,
+      "k3": 4.017689,
+      "p1": -0.00019,
+      "p2": 0.00068,
+      "fx": 888.4825,
+      "fy": 888.54875,
+      "cx": 481.94125,
+      "cy": 481.28
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7099.14,
+      "fy": 7100.11,
+      "cx": 11542.0,
+      "cy": 3863.19,
+      "k1": 0.96071053,
+      "k2": -1.92154109,
+      "k3": 3.89844155,
+      "p1": -0.00093296,
+      "p2": 0.00040186
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.960711,
+      "k2": -1.921541,
+      "k3": 3.898442,
+      "p1": -0.000933,
+      "p2": 0.000402,
+      "fx": 1774.785,
+      "fy": 1775.0275,
+      "cx": 965.5,
+      "cy": 965.7975
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.045,
+      "pitch_deg": -0.254,
+      "roll_deg": 88.629,
+      "t_m": [
+       -0.000837,
+       -8.9e-05,
+       -0.033015
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0025481779502608704,
+      -0.0009599278246505716,
+      0.9999962926569803
+     ],
+     [
+      0.9999580649151216,
+      -0.00879389595586244,
+      -0.002556522075521627
+     ],
+     [
+      0.008796317430548317,
+      0.999960872200752,
+      0.0009374791582241509
+     ]
+    ],
+    "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_e03212/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f44c683578f703c86aea391ae99e68bcc6febbf1187b678ce785b2cd5547b3
+size 54544

official_data/umi_data/batch2/fold_clothes_e03212/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 2368,
+    "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_e03212/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.829201340675354,
+            -0.25539591908454895,
+            -0.09441923350095749,
+            0.45354193449020386,
+            -0.6979579329490662,
+            -0.06501633673906326,
+            -0.7750596404075623,
+            -0.27666667103767395,
+            -0.6807430386543274,
+            -0.2708185315132141,
+            -0.6437631845474243,
+            0.42025434970855713,
+            -0.29656851291656494,
+            -0.8790447115898132,
+            -0.45541223883628845,
+            -0.5266666412353516
+        ],
+        "max": [
+            0.9034625291824341,
+            0.5532097816467285,
+            0.983742356300354,
+            0.9702391028404236,
+            -0.171531081199646,
+            0.7120834589004517,
+            0.2109632045030594,
+            13.779999732971191,
+            1.1252917051315308,
+            0.897543728351593,
+            0.8765031099319458,
+            0.9322942495346069,
+            0.46512213349342346,
+            -0.058868423104286194,
+            0.5519140362739563,
+            10.850000381469727
+        ],
+        "mean": [
+            -0.19245095551013947,
+            0.2278836965560913,
+            0.4176400303840637,
+            0.6867963671684265,
+            -0.5214788317680359,
+            0.3168868124485016,
+            -0.2353534698486328,
+            2.2977631092071533,
+            0.24745072424411774,
+            0.19310936331748962,
+            0.5656847357749939,
+            0.7706456780433655,
+            -0.088290736079216,
+            -0.5292291641235352,
+            0.038519736379384995,
+            1.7656536102294922
+        ],
+        "std": [
+            0.4497595727443695,
+            0.14900550246238708,
+            0.2772631347179413,
+            0.08260507881641388,
+            0.09316740185022354,
+            0.1931804120540619,
+            0.21849419176578522,
+            2.6234211921691895,
+            0.4156406819820404,
+            0.25623250007629395,
+            0.2530626356601715,
+            0.09880518913269043,
+            0.1514468938112259,
+            0.130819633603096,
+            0.2587102949619293,
+            2.548706531524658
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            -0.8208256238698959,
+            -0.12105740547180176,
+            -0.0527288818359375,
+            0.4881275761127472,
+            -0.691042788028717,
+            -0.016938728094100953,
+            -0.7496833539009095,
+            0.00978943149248759,
+            -0.6306508302688598,
+            -0.2634157872200012,
+            -0.5924754929542542,
+            0.4607751512527466,
+            -0.28762930154800415,
+            -0.8454699897766114,
+            -0.4186085820198059,
+            -0.388599396944046
+        ],
+        "q10": [
+            -0.6954627990722656,
+            0.015778088569641115,
+            0.03211380988359452,
+            0.5677113652229309,
+            -0.6413354516029358,
+            0.048740709821383156,
+            -0.5560837030410767,
+            0.11008626956206102,
+            -0.2878943383693695,
+            -0.1287924110889435,
+            0.36991989612579346,
+            0.6293509840965271,
+            -0.2230044350028038,
+            -0.6792825698852539,
+            -0.2924470007419586,
+            -0.00872487624486287
+        ],
+        "q50": [
+            -0.2631978392601013,
+            0.22863546013832092,
+            0.4187856912612915,
+            0.7030033469200134,
+            -0.5289117336273194,
+            0.30161935091018677,
+            -0.2201259732246399,
+            1.1711699962615967,
+            0.26778644323349,
+            0.16708365082740784,
+            0.6306759715080261,
+            0.7879246175289154,
+            -0.12625449895858765,
+            -0.5244004726409912,
+            0.04865381121635437,
+            0.5325011014938354
+        ],
+        "q90": [
+            0.5417515516281128,
+            0.43363316655159,
+            0.7811859560012817,
+            0.7709731380144755,
+            -0.4068228423595428,
+            0.5846701622009278,
+            0.04456201791763311,
+            6.053331184387208,
+            0.7402812838554382,
+            0.5281543254852296,
+            0.7844053506851196,
+            0.8767071723937988,
+            0.14158639907836917,
+            -0.3709291100502014,
+            0.40448167920112615,
+            6.580565071105958
+        ],
+        "q99": [
+            0.8692666578292847,
+            0.5437199974060059,
+            0.9577197885513306,
+            0.9101286458969117,
+            -0.24667115330696104,
+            0.665196373462677,
+            0.19150308132171634,
+            12.518610343933107,
+            1.064002227783203,
+            0.8389667296409608,
+            0.8592692995071411,
+            0.9262849545478821,
+            0.4347032260894776,
+            -0.20218273162841793,
+            0.47025205492973327,
+            8.818855781555175
+        ]
+    },
+    "action": {
+        "min": [
+            -0.829201340675354,
+            -0.25539591908454895,
+            -0.09441923350095749,
+            0.45354193449020386,
+            -0.6979579329490662,
+            -0.06501633673906326,
+            -0.7750596404075623,
+            -0.27666667103767395,
+            -0.6807430386543274,
+            -0.2708185315132141,
+            -0.6437631845474243,
+            0.42025434970855713,
+            -0.29656851291656494,
+            -0.8790447115898132,
+            -0.45541223883628845,
+            -0.5266666412353516
+        ],
+        "max": [
+            0.9034625291824341,
+            0.5532097816467285,
+            0.983742356300354,
+            0.9702391028404236,
+            -0.171531081199646,
+            0.7120834589004517,
+            0.2109632045030594,
+            13.779999732971191,
+            1.1252917051315308,
+            0.897543728351593,
+            0.8765031099319458,
+            0.9322942495346069,
+            0.46512213349342346,
+            -0.058868423104286194,
+            0.5519140362739563,
+            10.683333396911621
+        ],
+        "mean": [
+            -0.19241994619369507,
+            0.22784113883972168,
+            0.41761910915374756,
+            0.6867977380752563,
+            -0.5214724540710449,
+            0.31689900159835815,
+            -0.2353251874446869,
+            2.297788381576538,
+            0.24754877388477325,
+            0.1932460367679596,
+            0.5657886266708374,
+            0.770631730556488,
+            -0.08819861710071564,
+            -0.5292631387710571,
+            0.0385223887860775,
+            1.7640842199325562
+        ],
+        "std": [
+            0.4498109519481659,
+            0.14903804659843445,
+            0.2772441804409027,
+            0.08260364085435867,
+            0.09316515922546387,
+            0.19319681823253632,
+            0.21850460767745972,
+            2.6234004497528076,
+            0.415819376707077,
+            0.2563458979129791,
+            0.25293102860450745,
+            0.09878558665513992,
+            0.1515483409166336,
+            0.13071627914905548,
+            0.2587135434150696,
+            2.544252395629883
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            -0.8208256238698959,
+            -0.12105740547180176,
+            -0.0527288818359375,
+            0.4881275761127472,
+            -0.691042788028717,
+            -0.016938728094100953,
+            -0.7496833539009095,
+            0.00978943149248759,
+            -0.6306508302688598,
+            -0.2634157872200012,
+            -0.5924754929542542,
+            0.4607751512527466,
+            -0.28762930154800415,
+            -0.8454699897766114,
+            -0.4186085820198059,
+            -0.39062206745147704
+        ],
+        "q10": [
+            -0.6954627990722656,
+            0.015778088569641115,
+            0.03211380988359452,
+            0.5677113652229309,
+            -0.6413354516029358,
+            0.048740709821383156,
+            -0.5560837030410767,
+            0.11019439811889942,
+            -0.2878943383693695,
+            -0.1287924110889435,
+            0.36991989612579346,
+            0.6293509840965271,
+            -0.2230044350028038,
+            -0.6792825698852539,
+            -0.2924470007419586,
+            -0.009586701790491736
+        ],
+        "q50": [
+            -0.2631978392601013,
+            0.22863546013832092,
+            0.4187856912612915,
+            0.7030033469200134,
+            -0.5289117336273194,
+            0.30161935091018677,
+            -0.2201259732246399,
+            1.1711699962615967,
+            0.26778644323349,
+            0.16708365082740784,
+            0.6306759715080261,
+            0.7879246175289154,
+            -0.12625449895858765,
+            -0.5244004726409912,
+            0.04865381121635437,
+            0.5326784253120422
+        ],
+        "q90": [
+            0.5441773414611817,
+            0.43363316655159,
+            0.7811859560012817,
+            0.7709731380144755,
+            -0.4068228423595428,
+            0.5851157188415528,
+            0.04456201791763311,
+            6.053331184387208,
+            0.7402812838554382,
+            0.5286216735839845,
+            0.7844053506851196,
+            0.8767071723937988,
+            0.14250041246414188,
+            -0.3709291100502014,
+            0.40448167920112615,
+            6.579576778411866
+        ],
+        "q99": [
+            0.8692666578292847,
+            0.5437199974060059,
+            0.9577197885513306,
+            0.9101286458969117,
+            -0.24667115330696104,
+            0.665196373462677,
+            0.19150308132171634,
+            12.518610343933107,
+            1.0679754734039306,
+            0.8389667296409608,
+            0.8592692995071411,
+            0.9259777522087097,
+            0.4347032260894776,
+            -0.20218273162841793,
+            0.47025205492973327,
+            8.811981506347657
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            78.9000015258789
+        ],
+        "mean": [
+            39.45000076293945
+        ],
+        "std": [
+            22.786090850830078
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            0.7681703925132751
+        ],
+        "q10": [
+            7.871063899993897
+        ],
+        "q50": [
+            39.43421936035156
+        ],
+        "q90": [
+            71.02893524169923
+        ],
+        "q99": [
+            78.13182891845703
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            2367
+        ],
+        "mean": [
+            1183.5
+        ],
+        "std": [
+            683.5826577671496
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            23.04511199990195
+        ],
+        "q10": [
+            236.13191999991997
+        ],
+        "q50": [
+            1183.0266
+        ],
+        "q90": [
+            2130.86808000008
+        ],
+        "q99": [
+            2343.954888000098
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            2367
+        ],
+        "mean": [
+            1183.5
+        ],
+        "std": [
+            683.5826577671496
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            23.04511199990195
+        ],
+        "q10": [
+            236.13191999991997
+        ],
+        "q50": [
+            1183.0266
+        ],
+        "q90": [
+            2130.86808000008
+        ],
+        "q99": [
+            2343.954888000098
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            2368
+        ],
+        "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": [
+            [
+                [
+                    0.31797792320111723
+                ]
+            ],
+            [
+                [
+                    0.3459366391787841
+                ]
+            ],
+            [
+                [
+                    0.30692130194681033
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            [
+                [
+                    0.003800996853063455
+                ]
+            ],
+            [
+                [
+                    0.0038041904832284805
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0039127439657385766
+                ]
+            ],
+            [
+                [
+                    0.0039152291234701405
+                ]
+            ],
+            [
+                [
+                    0.0039059314293636176
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3177434447527387
+                ]
+            ],
+            [
+                [
+                    0.3529543891696426
+                ]
+            ],
+            [
+                [
+                    0.2508030134571721
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6666756954843056
+                ]
+            ],
+            [
+                [
+                    0.7136791042243534
+                ]
+            ],
+            [
+                [
+                    0.6704573059946284
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9410996680269588
+                ]
+            ],
+            [
+                [
+                    0.9528976850103025
+                ]
+            ],
+            [
+                [
+                    0.8981855786746722
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3552702379817744
+                ]
+            ],
+            [
+                [
+                    0.3759084527283789
+                ]
+            ],
+            [
+                [
+                    0.33728685708580547
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            2368
+        ],
+        "q01": [
+            [
+                [
+                    0.003801815057625172
+                ]
+            ],
+            [
+                [
+                    0.003804964274775091
+                ]
+            ],
+            [
+                [
+                    -3.9215686274509807e-13
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0039212216455092605
+                ]
+            ],
+            [
+                [
+                    0.003923678547279898
+                ]
+            ],
+            [
+                [
+                    0.003917512984047519
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3411063874573579
+                ]
+            ],
+            [
+                [
+                    0.376548851034295
+                ]
+            ],
+            [
+                [
+                    0.3098091978383194
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7373740965993479
+                ]
+            ],
+            [
+                [
+                    0.7765498974311882
+                ]
+            ],
+            [
+                [
+                    0.7254753217408546
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9998081665298559
+                ]
+            ],
+            [
+                [
+                    0.9961628671899596
+                ]
+            ],
+            [
+                [
+                    0.9998068970437715
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e03212/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d29af28b996fcde8bb4c38fc2c24f060a542a82f557949e839bd8f8467f9635
+size 2296

official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1e71c99f6f4c8b661f05bd26f6cb20d68b57ebea550ed20cde3686397364608
+size 1888232

official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:438a18d9e32120e3db36ccd996e8efca19b510358d96d7224016a398699d8d2d
+size 1886811

official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7ef6b4a7812bb21fd7e5bfc02ca75b95c7c345d2920ff7b46319326f6ecfc6
+size 94337388

official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e935ec3f519511225f55a0b42ccbfee049a1d2325e7ef1b39d3d34a0ed86fb8d
+size 96610517

official_data/umi_data/batch2/fold_clothes_e05060/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1223, "instruction": "fold the white cartoon short sleeve", "instruction_zh": "fold the white cartoon short sleeve", "target_objects": ["白色带动画图案短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e05060/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859a1b225b2608806834ea20cf2ce7db6adc5dba4fd19f55ae6a46902f26ee20
+size 247058

official_data/umi_data/batch2/fold_clothes_e05060/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e05060/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "fb6d3e4c3cebd6ce"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-31T12:04:38+0000"
+}

official_data/umi_data/batch2/fold_clothes_e05060/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": [
+     0.17334086915901423,
+     -0.11433319512871755,
+     -0.9782028744441799
+    ],
+    "gravity_magnitude_m_s2": 9.854751045195043,
+    "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": [
+     -0.35598272305790907,
+     0.01983325983498159,
+     -0.9342820466479027
+    ],
+    "gravity_magnitude_m_s2": 9.878196550799151,
+    "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_e05060/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c178c4680158891a10e242348579867205471c263a0b235fc34547df0d9242
+size 54481

official_data/umi_data/batch2/fold_clothes_e05060/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 1223,
+    "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_e05060/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.713678240776062,
+            -0.464618444442749,
+            -0.5363363027572632,
+            0.03685624152421951,
+            -0.05700922757387161,
+            -0.5007648468017578,
+            0.4061840772628784,
+            -0.8799999952316284,
+            0.46516239643096924,
+            -0.36909541487693787,
+            -0.45475444197654724,
+            0.18743981420993805,
+            -0.23595289885997772,
+            0.002739931922405958,
+            -0.9013994932174683,
+            -0.9900000095367432
+        ],
+        "max": [
+            0.6729702353477478,
+            0.1660274714231491,
+            1.1321372985839844,
+            0.9015645384788513,
+            0.6180322766304016,
+            0.43747401237487793,
+            0.9562931656837463,
+            18.389999389648438,
+            1.3766673803329468,
+            0.9106490015983582,
+            0.7885906100273132,
+            0.8846310973167419,
+            0.6317662000656128,
+            0.8370338082313538,
+            -0.00388596230186522,
+            13.979999542236328
+        ],
+        "mean": [
+            0.0919770672917366,
+            -0.1558775007724762,
+            0.44384071230888367,
+            0.494880735874176,
+            0.2547978460788727,
+            -0.1121099516749382,
+            0.7604297399520874,
+            4.413077354431152,
+            0.8271434903144836,
+            0.2527199983596802,
+            -0.08802872896194458,
+            0.6441071629524231,
+            0.15407761931419373,
+            0.5027446150779724,
+            -0.4698767364025116,
+            2.997936964035034
+        ],
+        "std": [
+            0.3360622227191925,
+            0.1527150571346283,
+            0.3054036796092987,
+            0.18282672762870789,
+            0.1355484277009964,
+            0.18030831217765808,
+            0.12263444066047668,
+            4.687540531158447,
+            0.2188732624053955,
+            0.21411839127540588,
+            0.26094189286231995,
+            0.12446276098489761,
+            0.15825726091861725,
+            0.15250027179718018,
+            0.15510323643684387,
+            3.757108211517334
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            -0.6939559522271156,
+            -0.4413816523551941,
+            -0.5042248642444611,
+            0.11731388986110687,
+            -0.03929208803921938,
+            -0.4658192005753517,
+            0.4264533865451813,
+            -0.850651783645153,
+            0.47796538203954697,
+            -0.31554322719573974,
+            -0.44375580191612246,
+            0.2442232535779476,
+            -0.1788170664012432,
+            0.05283594477921724,
+            -0.8884340071678162,
+            -0.974800464908282
+        ],
+        "q10": [
+            -0.2840113788843155,
+            -0.3402172148227692,
+            0.17720310091972352,
+            0.2561981350183487,
+            0.07047911733388901,
+            -0.3235690355300903,
+            0.5535362839698792,
+            -0.4109039932489395,
+            0.5738411366939544,
+            -0.018023157119750974,
+            -0.3829761266708374,
+            0.4747732490301132,
+            -0.04239946901798248,
+            0.3156502157449722,
+            -0.6204239368438721,
+            -0.7046718418598175
+        ],
+        "q50": [
+            0.08091750741004944,
+            -0.17597179114818573,
+            0.40551701188087463,
+            0.4696427136659622,
+            0.26910334825515747,
+            -0.13682198524475098,
+            0.8014649450778961,
+            3.234144687652588,
+            0.8094378113746643,
+            0.28069478273391724,
+            -0.14230182766914368,
+            0.6551854312419891,
+            0.1511799916625023,
+            0.5257587432861328,
+            -0.4665541797876358,
+            1.3767567873001099
+        ],
+        "q90": [
+            0.5314488291740418,
+            0.08148313760757447,
+            0.8273738980293274,
+            0.7880628943443299,
+            0.41858452558517456,
+            0.10828355550765992,
+            0.8848532468080521,
+            10.889729404449463,
+            1.1048292696475983,
+            0.42503710389137267,
+            0.34091179966926577,
+            0.7878400176763535,
+            0.3446726620197296,
+            0.6655613780021667,
+            -0.3042209029197693,
+            8.3114595413208
+        ],
+        "q99": [
+            0.6658663165569305,
+            0.15515138626098632,
+            1.109035519361496,
+            0.8743728858232498,
+            0.571288350224495,
+            0.4265688645839691,
+            0.9255717647075653,
+            17.521963443756103,
+            1.3671457886695861,
+            0.9039353358745575,
+            0.519722249507904,
+            0.8642410057783126,
+            0.5848694723844529,
+            0.7906087040901184,
+            -0.06980475962162018,
+            12.886500387191772
+        ]
+    },
+    "action": {
+        "min": [
+            -0.713678240776062,
+            -0.464618444442749,
+            -0.5363363027572632,
+            0.03685624152421951,
+            -0.05700922757387161,
+            -0.5007648468017578,
+            0.4061840772628784,
+            -0.8799999952316284,
+            0.46516239643096924,
+            -0.36909541487693787,
+            -0.45475444197654724,
+            0.18743981420993805,
+            -0.23595289885997772,
+            0.002739931922405958,
+            -0.9013994932174683,
+            -0.9900000095367432
+        ],
+        "max": [
+            0.6729702353477478,
+            0.1660274714231491,
+            1.1321372985839844,
+            0.9015645384788513,
+            0.6180322766304016,
+            0.43747401237487793,
+            0.9562931656837463,
+            18.389999389648438,
+            1.3766673803329468,
+            0.9106490015983582,
+            0.7641148567199707,
+            0.8846310973167419,
+            0.6317662000656128,
+            0.8370338082313538,
+            -0.00388596230186522,
+            13.979999542236328
+        ],
+        "mean": [
+            0.09210123866796494,
+            -0.15594609081745148,
+            0.4438362717628479,
+            0.49488526582717896,
+            0.25480759143829346,
+            -0.11216547340154648,
+            0.7604261040687561,
+            4.411128520965576,
+            0.827063798904419,
+            0.2523648142814636,
+            -0.08824332058429718,
+            0.6441941857337952,
+            0.1541188508272171,
+            0.5028505325317383,
+            -0.4697457253932953,
+            3.001283884048462
+        ],
+        "std": [
+            0.33584433794021606,
+            0.1528034806251526,
+            0.30541685223579407,
+            0.18282963335514069,
+            0.1355629414319992,
+            0.18024645745754242,
+            0.12263832986354828,
+            4.685451030731201,
+            0.21885134279727936,
+            0.21464376151561737,
+            0.260328084230423,
+            0.1244279146194458,
+            0.15817657113075256,
+            0.15242882072925568,
+            0.15493464469909668,
+            3.759756565093994
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            -0.6939559522271156,
+            -0.4413816523551941,
+            -0.5042248642444611,
+            0.11731388986110687,
+            -0.03929208803921938,
+            -0.4658192005753517,
+            0.4264533865451813,
+            -0.850651783645153,
+            0.47796538203954697,
+            -0.31554322719573974,
+            -0.4437285542488098,
+            0.2442232535779476,
+            -0.17604036912322044,
+            0.05283594477921724,
+            -0.8884340071678162,
+            -0.974800464908282
+        ],
+        "q10": [
+            -0.2840113788843155,
+            -0.34223527908325196,
+            0.17720310091972352,
+            0.2561981350183487,
+            0.07047911733388901,
+            -0.3235690355300903,
+            0.5535362839698792,
+            -0.4109039932489395,
+            0.5738411366939544,
+            -0.018151128292083738,
+            -0.38301179707050326,
+            0.4747732490301132,
+            -0.04239946901798248,
+            0.3156502157449722,
+            -0.6188084125518799,
+            -0.7046718418598175
+        ],
+        "q50": [
+            0.08091750741004944,
+            -0.17597179114818573,
+            0.40551701188087463,
+            0.4696427136659622,
+            0.26910334825515747,
+            -0.13682198524475098,
+            0.8014649450778961,
+            3.234144687652588,
+            0.8094378113746643,
+            0.28069478273391724,
+            -0.14211446046829224,
+            0.6551854312419891,
+            0.1511799916625023,
+            0.5257587432861328,
+            -0.4665541797876358,
+            1.3767567873001099
+        ],
+        "q90": [
+            0.5314488291740418,
+            0.08148313760757447,
+            0.8273738980293274,
+            0.7880628943443299,
+            0.41858452558517456,
+            0.10790822505950928,
+            0.8848532468080521,
+            10.889729404449463,
+            1.1048292696475983,
+            0.42503710389137267,
+            0.3408503234386444,
+            0.7878400176763535,
+            0.3446726620197296,
+            0.6655613780021667,
+            -0.3042209029197693,
+            8.3114595413208
+        ],
+        "q99": [
+            0.6658663165569305,
+            0.15515138626098632,
+            1.109035519361496,
+            0.8743728858232498,
+            0.571288350224495,
+            0.4265688645839691,
+            0.9255717647075653,
+            17.521963443756103,
+            1.3671457886695861,
+            0.9039353358745575,
+            0.5197974026203156,
+            0.8642410057783126,
+            0.5848694723844529,
+            0.7906087040901184,
+            -0.06980475962162018,
+            12.886500387191772
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            40.733333587646484
+        ],
+        "mean": [
+            20.366666793823242
+        ],
+        "std": [
+            11.768318176269531
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            0.4010604056715965
+        ],
+        "q10": [
+            4.067630863189698
+        ],
+        "q50": [
+            20.370739936828613
+        ],
+        "q90": [
+            36.66570358276367
+        ],
+        "q99": [
+            40.33227432250977
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1222
+        ],
+        "mean": [
+            611.0
+        ],
+        "std": [
+            353.04957159016635
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            12.03181199990197
+        ],
+        "q10": [
+            122.02891999991998
+        ],
+        "q50": [
+            611.1222
+        ],
+        "q90": [
+            1099.97108000008
+        ],
+        "q99": [
+            1209.9681880000983
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1222
+        ],
+        "mean": [
+            611.0
+        ],
+        "std": [
+            353.04957159016635
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            12.03181199990197
+        ],
+        "q10": [
+            122.02891999991998
+        ],
+        "q50": [
+            611.1222
+        ],
+        "q90": [
+            1099.97108000008
+        ],
+        "q99": [
+            1209.9681880000983
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            1223
+        ],
+        "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": [
+            [
+                [
+                    0.35608344948815507
+                ]
+            ],
+            [
+                [
+                    0.3745925614133955
+                ]
+            ],
+            [
+                [
+                    0.40059901606409903
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            [
+                [
+                    0.0038015117463245764
+                ]
+            ],
+            [
+                [
+                    0.0038052637867956496
+                ]
+            ],
+            [
+                [
+                    0.003803069162772776
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003915191765002462
+                ]
+            ],
+            [
+                [
+                    0.003918021232202402
+                ]
+            ],
+            [
+                [
+                    0.003916223033913656
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.41572835528240815
+                ]
+            ],
+            [
+                [
+                    0.4197224807458558
+                ]
+            ],
+            [
+                [
+                    0.42345538897962476
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6589426714032399
+                ]
+            ],
+            [
+                [
+                    0.7019509513705253
+                ]
+            ],
+            [
+                [
+                    0.7921041135338908
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.999907469470481
+                ]
+            ],
+            [
+                [
+                    0.9998990690435146
+                ]
+            ],
+            [
+                [
+                    0.9999185596977175
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.33273584896825564
+                ]
+            ],
+            [
+                [
+                    0.35786036388028253
+                ]
+            ],
+            [
+                [
+                    0.3771202689836638
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            1223
+        ],
+        "q01": [
+            [
+                [
+                    0.0038026170527815863
+                ]
+            ],
+            [
+                [
+                    0.0038060265254733863
+                ]
+            ],
+            [
+                [
+                    0.0038046197346463927
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003921903259151723
+                ]
+            ],
+            [
+                [
+                    0.003924534056961256
+                ]
+            ],
+            [
+                [
+                    0.003923546365840102
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3920382653081523
+                ]
+            ],
+            [
+                [
+                    0.4079403649753299
+                ]
+            ],
+            [
+                [
+                    0.3765481018712368
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6274474210442703
+                ]
+            ],
+            [
+                [
+                    0.682310257114763
+                ]
+            ],
+            [
+                [
+                    0.7764206019833784
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7411361918741557
+                ]
+            ],
+            [
+                [
+                    0.7802284440433211
+                ]
+            ],
+            [
+                [
+                    0.9410536472524944
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e05060/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab497340bd9ad8cde56c32cedd7c8859d73a682494c6ebb94ff746a228af9f1c
+size 2271

official_data/umi_data/batch2/fold_clothes_e05060/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f5032dd5ea6aca11ba23e7bf03ea4a27ee9a898efe5ddcc1adbb157af5ab27
+size 975006

official_data/umi_data/batch2/fold_clothes_e05060/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0cd5cd50d7fd85ede602e95ba4b30086d3b8f5e7f744c905ce34f7ff40a4b7
+size 974303

official_data/umi_data/batch2/fold_clothes_e05060/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b58acb2a5d63eb6a338ffa7500c709611cf540c65a4c90372a8630f94ca123
+size 40098676

official_data/umi_data/batch2/fold_clothes_e05060/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697546e8ee3be754824ecdc43d46eef4b685d71d76cc66b77d6657914fcc6642
+size 38091926

official_data/umi_data/batch2/fold_clothes_e05226/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1406, "instruction": "fold the black t-shirt", "instruction_zh": "fold the black t-shirt", "target_objects": ["black t-shirt"], "success": true}