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chrockey
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DexJoCo-preprocessed

Modalities:
Video
Size:
< 1K
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Tags:
robotics
dexterous-manipulation
point-cloud
mujoco
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chrockey commited on
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1 Parent(s): 70b9a52

data-v4: data-v3 in LeRobot v3 (161 files, 22.3 GB); H5 stays under data-v1..data-v3

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  1. .gitattributes +58 -0
  2. README.md +4 -0
  3. bimanual_assembly/assembly_demo_11_2026-03-19_15-43-16_786033.h5 +0 -3
  4. bimanual_assembly/assembly_demo_11_2026-03-19_19-14-47_972823.h5 +0 -3
  5. bimanual_assembly/assembly_demo_12_2026-03-19_15-43-53_469273.h5 +0 -3
  6. bimanual_assembly/assembly_demo_12_2026-03-19_17-15-03_971371.h5 +0 -3
  7. bimanual_assembly/assembly_demo_12_2026-03-19_19-15-14_185844.h5 +0 -3
  8. bimanual_assembly/assembly_demo_12_2026-03-19_19-30-52_804150.h5 +0 -3
  9. bimanual_assembly/assembly_demo_13_2026-03-19_17-15-51_172267.h5 +0 -3
  10. bimanual_assembly/assembly_demo_13_2026-03-19_19-15-38_186397.h5 +0 -3
  11. bimanual_assembly/assembly_demo_13_2026-03-19_19-31-19_705943.h5 +0 -3
  12. bimanual_assembly/assembly_demo_14_2026-03-19_17-18-03_825644.h5 +0 -3
  13. bimanual_assembly/assembly_demo_15_2026-03-19_17-18-34_861352.h5 +0 -3
  14. bimanual_assembly/assembly_demo_16_2026-03-19_15-45-55_304402.h5 +0 -3
  15. bimanual_assembly/assembly_demo_16_2026-03-19_17-19-01_655945.h5 +0 -3
  16. bimanual_assembly/assembly_demo_16_2026-03-19_19-18-03_755407.h5 +0 -3
  17. bimanual_assembly/assembly_demo_16_2026-03-19_19-33-10_508504.h5 +0 -3
  18. bimanual_assembly/assembly_demo_17_2026-03-19_19-18-37_006863.h5 +0 -3
  19. bimanual_assembly/assembly_demo_17_2026-03-19_19-33-39_763683.h5 +0 -3
  20. bimanual_assembly/assembly_demo_18_2026-03-19_17-23-35_382376.h5 +0 -3
  21. bimanual_assembly/assembly_demo_18_2026-03-19_19-19-02_842779.h5 +0 -3
  22. bimanual_assembly/assembly_demo_18_2026-03-19_19-34-19_039141.h5 +0 -3
  23. bimanual_assembly/assembly_demo_19_2026-03-19_17-24-17_105315.h5 +0 -3
  24. bimanual_assembly/assembly_demo_19_2026-03-19_19-34-43_094872.h5 +0 -3
  25. bimanual_assembly/assembly_demo_1_2026-03-19_09-23-38_612115.h5 +0 -3
  26. bimanual_assembly/assembly_demo_1_2026-03-19_16-09-36_756749.h5 +0 -3
  27. bimanual_assembly/assembly_demo_1_2026-03-19_16-54-26_833309.h5 +0 -3
  28. bimanual_assembly/assembly_demo_1_2026-03-19_17-03-32_367761.h5 +0 -3
  29. bimanual_assembly/assembly_demo_1_2026-03-19_17-26-31_221912.h5 +0 -3
  30. bimanual_assembly/assembly_demo_1_2026-03-19_17-38-19_025632.h5 +0 -3
  31. bimanual_assembly/assembly_demo_1_2026-03-19_19-08-45_005196.h5 +0 -3
  32. bimanual_assembly/assembly_demo_1_2026-03-19_19-25-31_939974.h5 +0 -3
  33. bimanual_assembly/assembly_demo_20_2026-03-19_17-25-38_682206.h5 +0 -3
  34. bimanual_assembly/assembly_demo_20_2026-03-19_19-20-08_090925.h5 +0 -3
  35. bimanual_assembly/assembly_demo_20_2026-03-19_19-35-11_976326.h5 +0 -3
  36. bimanual_assembly/assembly_demo_21_2026-03-19_15-50-06_473454.h5 +0 -3
  37. bimanual_assembly/assembly_demo_24_2026-03-19_15-51-32_825643.h5 +0 -3
  38. bimanual_assembly/assembly_demo_26_2026-03-19_15-52-25_270357.h5 +0 -3
  39. bimanual_assembly/assembly_demo_27_2026-03-19_15-52-56_630691.h5 +0 -3
  40. bimanual_assembly/assembly_demo_28_2026-03-19_15-53-43_944784.h5 +0 -3
  41. bimanual_assembly/assembly_demo_29_2026-03-19_15-54-09_284827.h5 +0 -3
  42. bimanual_assembly/assembly_demo_2_2026-03-19_15-36-58_571548.h5 +0 -3
  43. bimanual_assembly/assembly_demo_2_2026-03-19_16-55-14_071209.h5 +0 -3
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  46. bimanual_assembly/assembly_demo_2_2026-03-19_17-32-59_905536.h5 +0 -3
  47. bimanual_assembly/assembly_demo_2_2026-03-19_19-09-18_981462.h5 +0 -3
  48. bimanual_assembly/assembly_demo_2_2026-03-19_19-26-03_854225.h5 +0 -3
  49. bimanual_assembly/assembly_demo_30_2026-03-19_15-54-33_979877.h5 +0 -3
  50. bimanual_assembly/assembly_demo_31_2026-03-19_15-54-57_865787.h5 +0 -3
.gitattributes CHANGED
@@ -58,3 +58,61 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
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+ bimanual_unlock_ipad/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_unlock_ipad/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_unlock_ipad/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_unlock_ipad/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_unlock_ipad/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_unlock_ipad/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ water_plant/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ water_plant/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ water_plant/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ water_plant/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ fold_glasses/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ fold_glasses/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ fold_glasses/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ fold_glasses/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pick_bucket/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pick_bucket/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pick_bucket/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pick_bucket/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_photograph/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_photograph/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_photograph/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_photograph/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pinch_tongs/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pinch_tongs/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ pinch_tongs/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_hanoi/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_assembly/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_assembly/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_assembly/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ bimanual_assembly/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ click_mouse/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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+ click_mouse/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text
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README.md CHANGED
@@ -24,6 +24,7 @@ model versions (`v1.1.0`, ...). Always download a tag and check it with its mani
24
  | `data-v1` | `110a68c5` | 10-06 | 1,059 | 113.5 | first upload (incl. 42 recovered unlock_ipad demos) |
25
  | `data-v2` | `421daed6` | 10-28 | 1,100 | 119.9 | + 41 recovered demos |
26
  | `data-v3` | `72e98046` | 10-28 | 1,100 | 119.7 | 5 frozen-start demos trimmed |
 
27
 
28
  Which dataset each PointWAM model was trained on:
29
 
@@ -40,6 +41,7 @@ Manifest sha256 (`find . -name '*.h5' -print0 | LC_ALL=C sort -z | xargs -0 sha2
40
  | `data-v1` | `1dca8061623db35321e1e3f8df73991ed314e398fca9d771f71204cda24ce5a3` |
41
  | `data-v2` | `91c2468b9bd8a411a918914794736c4d294529e3d6d4ea89c92f13422985f7b7` |
42
  | `data-v3` | `6ff159cb75a86051a46a705c13a4d9e22f26a093cdeefbf269c359d524cd9db9` |
 
43
  ## Download and check
44
 
45
  ```bash
@@ -48,6 +50,8 @@ hf download chrockey/DexJoCo-preprocessed versions/data-v3.sha256 --repo-type da
48
  cd DexJoCo-preprocessed && sha256sum -c --quiet ../manifests/versions/data-v3.sha256
49
  ```
50
 
 
 
51
  Add `--include "water_plant/*"` for one task. Always pin `--revision`.
52
 
53
  ## Contents
 
24
  | `data-v1` | `110a68c5` | 10-06 | 1,059 | 113.5 | first upload (incl. 42 recovered unlock_ipad demos) |
25
  | `data-v2` | `421daed6` | 10-28 | 1,100 | 119.9 | + 41 recovered demos |
26
  | `data-v3` | `72e98046` | 10-28 | 1,100 | 119.7 | 5 frozen-start demos trimmed |
27
+ | `data-v4` | tag | 11-01 | 1,100 | 22.3 | `data-v3` in **LeRobot v3** (no H5): RGB H.264 crf 18 (lossy, 31.4 dB worst frame), depth / body id lossless; not yet validated for training |
28
 
29
  Which dataset each PointWAM model was trained on:
30
 
 
41
  | `data-v1` | `1dca8061623db35321e1e3f8df73991ed314e398fca9d771f71204cda24ce5a3` |
42
  | `data-v2` | `91c2468b9bd8a411a918914794736c4d294529e3d6d4ea89c92f13422985f7b7` |
43
  | `data-v3` | `6ff159cb75a86051a46a705c13a4d9e22f26a093cdeefbf269c359d524cd9db9` |
44
+ | `data-v4` | `3eeda88c370159604998c3ab85dca0ad84bcf191b1a57d528cdea4ca5fc4be0b` (every file in the task folders: `find . -type f -not -path './versions/*' -not -path './corpora/*' -not -name README.md -not -name .gitattributes -not -path './.cache/*'`) |
45
  ## Download and check
46
 
47
  ```bash
 
50
  cd DexJoCo-preprocessed && sha256sum -c --quiet ../manifests/versions/data-v3.sha256
51
  ```
52
 
53
+ `--revision data-v4` gives LeRobot v3 (one dataset per task: `<task>/{meta,data,videos,sidecars}`; `lerobot>=0.6.1`
54
+ reads RGB + state; depth and body id are lossless FFV1 and need a custom reader); `data-v1`..`data-v3` give H5.
55
  Add `--include "water_plant/*"` for one task. Always pin `--revision`.
56
 
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  ## Contents
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