| { |
| "schema_version": 1, |
| "schema_scope": "HTD descriptive upload sidecar; supplementary_note.json is not an additional OXT-required schema. The required supplementary-joint definition is supplied separately in supplementary_joints_note.json.", |
| "dataset": { |
| "name": "Humanoid Touch Dream", |
| "converter_version": "0.8.3", |
| "license": "CC-BY-4.0", |
| "contact": "yarun@andrew.cmu.edu", |
| "institutions": [ |
| "Carnegie Mellon University", |
| "Bosch Center for Artificial Intelligence" |
| ], |
| "episodes": 871, |
| "dftp_episodes": 760, |
| "informative_f1_episodes": 111, |
| "tasks": 6, |
| "source_rows": 998805, |
| "retained_frames": 994778, |
| "discarded_duplicate_timestamp_rows": 4027, |
| "archive_bytes": 387894424213, |
| "source_split_episode_counts": { |
| "train": 767, |
| "unspecified": 47, |
| "val": 57 |
| } |
| }, |
| "format_references": { |
| "oxt": "https://open-x-tactile.github.io/", |
| "oxt_submission_repository": "https://github.com/nolann030628/OXT-QC", |
| "ftp1": "https://github.com/michaelyuancb/ftp1-policy/blob/main/data_processing/README.md" |
| }, |
| "archive_layout": { |
| "root": ".", |
| "dftp": "HTD/InspireHandDFTP/<task>/<episode_id>.zip", |
| "f1": "HTD/InspireHandF1/lab/<episode_id>.zip", |
| "container_compression": "ZIP_STORED; payloads already compressed", |
| "inside_each_zip": "<episode_id>.zarr/", |
| "zarr_format": 2, |
| "reading": "Extract the desired archive, then read the Zarr with image codecs registered; OXT ReplayBuffer registers these codecs.", |
| "manifest": "dataset_manifest.json", |
| "manifest_path_resolution": "Resolve episodes[].archive relative to this upload root. Preparation-machine paths elsewhere in the manifest are provenance, not portable loading paths.", |
| "dataset_folder": "HTD", |
| "sensor_folder_naming": "Sensor folders match the Zarr sensor identifiers InspireHandDFTP and InspireHandF1." |
| }, |
| "source_selection": { |
| "dftp": "All 760 selected DFTP recordings from the repaired source tree.", |
| "f1": "Only the 111 informative f1_with_tactile recordings.", |
| "uninformative_f1_episodes_not_in_release": 184, |
| "original_source_data_modified": false, |
| "extra_historical_pose_repair_applied": false, |
| "source_split_policy": "Preserve train/val/unspecified labels; do not assign unspecified recordings to train or infer session-independent evaluation." |
| }, |
| "tasks": { |
| "book": { |
| "episodes": 162, |
| "retained_frames": 133388, |
| "archive_bytes": 54464300026, |
| "sensor_profile": "dftp-1062", |
| "instruction": "Pick up the book from the table and place it on the bookshelf." |
| }, |
| "insert_t": { |
| "episodes": 208, |
| "retained_frames": 117728, |
| "archive_bytes": 44780534022, |
| "sensor_profile": "dftp-1062", |
| "instruction": "Pick up the T-shaped block and insert it into the matching slot." |
| }, |
| "lab": { |
| "episodes": 111, |
| "retained_frames": 333106, |
| "archive_bytes": 125526654030, |
| "sensor_profile": "f1-37", |
| "instruction": "Clean the lab." |
| }, |
| "scoop": { |
| "episodes": 163, |
| "retained_frames": 139711, |
| "archive_bytes": 63135609140, |
| "sensor_profile": "dftp-1062", |
| "instruction": "Pick up the scoop, scoop litter from the box, and empty it into the trash bin." |
| }, |
| "tea": { |
| "episodes": 77, |
| "retained_frames": 73261, |
| "archive_bytes": 21990765572, |
| "sensor_profile": "dftp-1062", |
| "instruction": "Pick up both cups from the counter, carry them to the nearby table, and set them down." |
| }, |
| "towel": { |
| "episodes": 150, |
| "retained_frames": 197584, |
| "archive_bytes": 77996561423, |
| "sensor_profile": "dftp-1062", |
| "instruction": "Fold the towel on the table." |
| } |
| }, |
| "language": { |
| "key": "data/sub_task_instruction", |
| "shape": [ |
| "T" |
| ], |
| "policy": "The high-level instruction in the task table is repeated for every retained frame of an episode.", |
| "task_mapping_provenance": "provenance.json: config.task_instructions", |
| "temporally_segmented_subtasks_annotated": false, |
| "separate_data_task_instruction_array_present": false, |
| "task_success_certified_per_episode": false |
| }, |
| "image_storage": { |
| "rgb_shape": [ |
| "T", |
| 480, |
| 640, |
| 3 |
| ], |
| "dtype": "uint8", |
| "ego": "Saved display-left eye of a 1280x480 stereo JPEG; decoded source pixels encoded losslessly using JPEG XL, distance=0, effort=3.", |
| "physical_eye_assignment": "Inferred physical-left eye from sampled stereo evidence; see notes/pose_and_camera.json for assumptions.", |
| "wrists": "Original source JPEG payload bytes are preserved.", |
| "tea_streams": [ |
| "camera_ego_rgb" |
| ], |
| "other_task_streams": [ |
| "camera_ego_rgb", |
| "left_wrist_camera_rgb", |
| "right_wrist_camera_rgb" |
| ], |
| "numeric_compressor": "Blosc Zstd, clevel=3, BITSHUFFLE", |
| "resize_applied": false, |
| "additional_lossy_encoding": false |
| }, |
| "supplementary_joints": { |
| "key": "data/supplementary_joints", |
| "shape": [ |
| "T", |
| 15 |
| ], |
| "units": "radians", |
| "meaning": "Measured positions of six left-leg, six right-leg and three waist joints; not locomotion velocity commands.", |
| "required_note": "supplementary_joints_note.json", |
| "dimension_label_convention": "dim_1 through dim_15 correspond to zero-based array columns 0 through 14.", |
| "column_order": [ |
| "left_hip_pitch", |
| "left_hip_roll", |
| "left_hip_yaw", |
| "left_knee", |
| "left_ankle_pitch", |
| "left_ankle_roll", |
| "right_hip_pitch", |
| "right_hip_roll", |
| "right_hip_yaw", |
| "right_knee", |
| "right_ankle_pitch", |
| "right_ankle_roll", |
| "waist_yaw", |
| "waist_roll", |
| "waist_pitch" |
| ], |
| "source": "observations/proprioceptions/robot_joint_pos_proprio[:,0:15]" |
| }, |
| "supplementary_tactile": { |
| "present": false, |
| "reason": "All exported surface and motor-feedback groups use documented MTTS areas; no supplementary_tactile arrays are introduced.", |
| "supplementary_tactile_note_required": false |
| }, |
| "sensor_notes": { |
| "details": "notes/sensor_descriptions.json", |
| "dftp": "Piezoresistive surface tactile: 1062 source values per hand, already divided by4095. Preserve their scale; 90 padded cells are marked by validity masks.", |
| "f1_fingertip_feature_order": [ |
| "normal_force_N/20", |
| "tangential_force_N/20", |
| "sin(direction)", |
| "cos(direction)", |
| "proximity" |
| ], |
| "f1_palm_feature_order": [ |
| "normal_force_N/20", |
| "tangential_force_N/20", |
| "sin(direction)", |
| "cos(direction)" |
| ], |
| "f1_proximity": "min(raw_count/16000000,1), dimensionless; not metric distance.", |
| "f1_direction_flag": "The pair (0,0) preserves SDK direction=-1 (raw65535), named the no-contact flag. It is not a valid sine/cosine angle and can coexist with nonzero force; it alone does not establish physical absence of contact.", |
| "motor_feedback": "Six native force_act/1000 channels per hand, placed in MTTS torque areas17-20 and16. These values are not calibrated torques in N*m or six-axis wrist force/torque measurements." |
| }, |
| "poses": { |
| "details": "notes/pose_and_camera.json", |
| "standard_keys": [ |
| "data/left_wrist_pose", |
| "data/right_wrist_pose", |
| "data/camera_ego_pose" |
| ], |
| "reference": "Moving torso_link; not a fixed room/world reference.", |
| "shape_and_units": "float64[T,6]: XYZ metres followed by rotation-vector radians.", |
| "aliases": { |
| "camera_ego_to_torso_pose_estimated": "data/camera_ego_pose", |
| "left_wrist_to_torso_pose": "data/left_wrist_pose", |
| "right_wrist_to_torso_pose": "data/right_wrist_pose" |
| }, |
| "aliases_are": "Separate arrays containing exact copies of their standard keys, with alias_of attributes.", |
| "additional_torso_key": "data/torso_pose_to_robot_ground_frame", |
| "additional_torso_reference": "Per-frame feet-defined kinematic ground estimate; not persistent world odometry.", |
| "camera_mount_calibrated": false, |
| "camera_intrinsics_calibrated": false, |
| "ftp_effect": "Standard wrist fields supply observed state/future measured targets. Constant torso-relative camera coordinates mask head-motion targets. Descriptive aliases and auxiliary torso pose are not automatically consumed as separate FTP fields." |
| }, |
| "archived_motion_commands": { |
| "key": "provenance/source_streams/actions/velocity_commands", |
| "columns": [ |
| "forward_velocity_command", |
| "lateral_velocity_command", |
| "yaw_rate_command" |
| ], |
| "nominal_units": [ |
| "m/s", |
| "m/s", |
| "rad/s" |
| ], |
| "reference": "Locomotion base/heading command coordinates.", |
| "meaning": "Requested motion, not measured displacement or guaranteed executed velocity; not integrated into a world trajectory.", |
| "consumed_automatically_by_stock_ftp": false, |
| "row_basis": "Original source rows, including rows removed from the aligned exported streams; meta/source_row_indices maps retained rows back to the source." |
| }, |
| "timestamps_and_provenance": { |
| "timestamp": "Recorded host camera-read time, not a calibrated sensor exposure timestamp.", |
| "duplicate_policy": "Keep the last complete row in each equal-timestamp run across all exported modalities.", |
| "original_numeric_rows": "All original numeric/Boolean source rows are archived under provenance/source_streams.", |
| "retained_row_mapping": "meta/source_row_indices", |
| "source_identity_and_transforms": "provenance.json and Zarr attributes", |
| "artifact_checksums": "artifact_index.json authenticated by COMPLETE", |
| "synchronization": "Collector row snapshots; independent per-sensor acquisition times are unavailable. Common row indexing does not imply calibrated hardware synchronization." |
| }, |
| "quality_scope": { |
| "full_release_episodes": 871, |
| "builtin_conversion_image_pixel_and_integrity_checks": "Passed for every exported episode.", |
| "every_archive_member_sha256_size_crc_verified": true, |
| "separate_exhaustive_source_image_validation_pass_for_full_release": false, |
| "sampled_review_reference": "OXT_Submission_HTD20", |
| "sampled_review_episodes": 20, |
| "sampled_official_structure_result": { |
| "pass": 19, |
| "warning": 1, |
| "fail": 0 |
| }, |
| "sampled_visual_review": "4D review and assistant multimodal review of official montage panels; semantic warnings retained.", |
| "external_vlm_api_called_for_sample_review": false, |
| "full_corpus_visual_review_claimed": false, |
| "organizer_acceptance_claimed": false, |
| "detailed_scope": "quality_check_scope.json", |
| "fresh_full_archive_sha256_review": { |
| "status": "passed", |
| "archives": 871, |
| "bytes": 387894424213 |
| }, |
| "fresh_full_numeric_review": { |
| "status": "passed", |
| "episodes": 871, |
| "scalars_checked": 1685079992 |
| }, |
| "f1_force_and_proximity_review": { |
| "status": "passed", |
| "episodes": 111, |
| "hands": "both" |
| }, |
| "full_timing_audit": { |
| "status": "source_timing_preserved_with_warnings", |
| "episodes": 871, |
| "warning_episodes": 102, |
| "gap_count": 165, |
| "threshold": "More than3x each episode median positive timestamp interval", |
| "approximately_two_second_gaps": 8, |
| "maximum_gap_seconds": 2.070997953414917, |
| "all_flagged_gaps_preserved_from_archived_original_timestamps": true, |
| "interpolation_applied": false |
| }, |
| "official_full_structure_review": { |
| "status": "complete_with_source_timing_warnings", |
| "coverage_episodes": 871, |
| "final_result_reference": "quality_check_scope.json", |
| "raw_automatic_task_count": 871, |
| "curated_semantic_task_count": 6, |
| "task_count_correction_reason": "Official builder counts Zarr stores; each store is one episode, while the dataset contains six semantic tasks.", |
| "clean_pass_episodes": 769, |
| "warning_episodes": 102, |
| "failed_episodes": 0, |
| "report": "oxt_check_output/precheck_report_result.json" |
| }, |
| "sampled_organizer_review": { |
| "status": "user_reported_verified_and_checked", |
| "coverage_episodes": 20, |
| "full_release_acceptance_inferred": false |
| } |
| }, |
| "documentation": { |
| "required_joint_definitions": "supplementary_joints_note.json", |
| "sensor_feature_definitions": "notes/sensor_descriptions.json", |
| "pose_and_camera_definitions": "notes/pose_and_camera.json", |
| "license_note": "notes/license_note.json", |
| "license_text": "LICENSE-DATA.txt", |
| "full_release_metadata": "metadata.json", |
| "quality_review_scope": "quality_check_scope.json", |
| "timing_warnings": "notes/timing_warnings.json" |
| }, |
| "documentation_basis": { |
| "reference_package": "OXT_Submission_HTD20", |
| "scope_adaptation": "Counts and release scope describe the full871episode export. Detailed sensor and pose semantics are retained from the reviewed example. Historical audit counts in descriptive notes remain scoped to those historical audits.", |
| "dataset_manifest_sha256": "263060b47519934d283d79b77c3e817dc9fc134ef212fb8e26265bc129fc4d83" |
| } |
| } |
|
|
