diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..6f7a31e0b8e0d60af56b642b6d8bc4dc31feb2bb 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,61 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +bimanual_unlock_ipad/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_unlock_ipad/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_unlock_ipad/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_unlock_ipad/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_unlock_ipad/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_unlock_ipad/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +water_plant/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +water_plant/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +water_plant/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +water_plant/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +fold_glasses/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +fold_glasses/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +fold_glasses/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +fold_glasses/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pick_bucket/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pick_bucket/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pick_bucket/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pick_bucket/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_photograph/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_photograph/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_photograph/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_photograph/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_photograph/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_photograph/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pinch_tongs/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pinch_tongs/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pinch_tongs/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +pinch_tongs/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/handcam_rgb_left.depth/chunk-000/file-001.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/handcam_rgb_right.depth/chunk-000/file-001.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_hanoi/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/handcam_rgb_left.depth/chunk-000/file-001.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/handcam_rgb_right.depth/chunk-000/file-001.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_microwave_cook/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_assembly/sidecars/back.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_assembly/sidecars/handcam_rgb_right.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_assembly/sidecars/handcam_rgb_left.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_assembly/sidecars/back.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_assembly/sidecars/handcam_rgb_left.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +bimanual_assembly/sidecars/handcam_rgb_right.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +click_mouse/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +click_mouse/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +click_mouse/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +click_mouse/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +hammer_nail/sidecars/front.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +hammer_nail/sidecars/handcam_rgb.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +hammer_nail/sidecars/handcam_rgb.body_id/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text +hammer_nail/sidecars/front.depth/chunk-000/file-000.mkv filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md index 3b5f935f7d537d839ba7b171d55159df8a3e1e0c..de6bede57a1b4b8d93e5ed01edeb2d91a3e24764 100644 --- a/README.md +++ b/README.md @@ -24,6 +24,7 @@ model versions (`v1.1.0`, ...). Always download a tag and check it with its mani | `data-v1` | `110a68c5` | 10-06 | 1,059 | 113.5 | first upload (incl. 42 recovered unlock_ipad demos) | | `data-v2` | `421daed6` | 10-28 | 1,100 | 119.9 | + 41 recovered demos | | `data-v3` | `72e98046` | 10-28 | 1,100 | 119.7 | 5 frozen-start demos trimmed | +| `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 | Which dataset each PointWAM model was trained on: @@ -40,6 +41,7 @@ Manifest sha256 (`find . -name '*.h5' -print0 | LC_ALL=C sort -z | xargs -0 sha2 | `data-v1` | `1dca8061623db35321e1e3f8df73991ed314e398fca9d771f71204cda24ce5a3` | | `data-v2` | `91c2468b9bd8a411a918914794736c4d294529e3d6d4ea89c92f13422985f7b7` | | `data-v3` | `6ff159cb75a86051a46a705c13a4d9e22f26a093cdeefbf269c359d524cd9db9` | +| `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/*'`) | ## Download and check ```bash @@ -48,6 +50,8 @@ hf download chrockey/DexJoCo-preprocessed versions/data-v3.sha256 --repo-type da cd DexJoCo-preprocessed && sha256sum -c --quiet ../manifests/versions/data-v3.sha256 ``` +`--revision data-v4` gives LeRobot v3 (one dataset per task: `/{meta,data,videos,sidecars}`; `lerobot>=0.6.1` +reads RGB + state; depth and body id are lossless FFV1 and need a custom reader); `data-v1`..`data-v3` give H5. Add `--include "water_plant/*"` for one task. Always pin `--revision`. ## Contents diff --git a/bimanual_assembly/assembly_demo_10_2026-03-19_15-42-47_880265.h5 b/bimanual_assembly/assembly_demo_10_2026-03-19_15-42-47_880265.h5 deleted file mode 100644 index 7600d04cc6343f5863960103dca1c2125ef55df9..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_10_2026-03-19_15-42-47_880265.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2adb71e51b9058bf603123e0a5488b04fe105b67c261be9ed23defd98c2080d7 -size 164249954 diff --git a/bimanual_assembly/assembly_demo_10_2026-03-19_17-31-23_870703.h5 b/bimanual_assembly/assembly_demo_10_2026-03-19_17-31-23_870703.h5 deleted file mode 100644 index 62bab475186f76714a05682b0f1afe786a87ceb1..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_10_2026-03-19_17-31-23_870703.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:15cac296af8d6fea6a4868bac058f95d2a7b8dce034ac391ee5a693223435107 -size 175321598 diff --git a/bimanual_assembly/assembly_demo_10_2026-03-19_17-36-54_867270.h5 b/bimanual_assembly/assembly_demo_10_2026-03-19_17-36-54_867270.h5 deleted file mode 100644 index 9001af0a42dc1fbc029b8952669f76e6b9b45ad7..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_10_2026-03-19_17-36-54_867270.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0b7f90e8b45982c8d4c1e74419752bcf05dda1fadad58b47bd43ac64bb177652 -size 171423741 diff --git a/bimanual_assembly/assembly_demo_10_2026-03-19_19-14-20_034455.h5 b/bimanual_assembly/assembly_demo_10_2026-03-19_19-14-20_034455.h5 deleted file mode 100644 index c846ff79fd76e9099770b6f35a43c0bb4a34c09c..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_10_2026-03-19_19-14-20_034455.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:95054d92283b3ba8ebca785504cf4ef0adc9eb3ed1660d49d3181e86f4473040 -size 157285083 diff --git a/bimanual_assembly/assembly_demo_11_2026-03-19_15-43-16_786033.h5 b/bimanual_assembly/assembly_demo_11_2026-03-19_15-43-16_786033.h5 deleted file mode 100644 index 3766af78aea4153c50573147c33e0b6f47a07f64..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_11_2026-03-19_15-43-16_786033.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9358e8b6e97d4cad7dc63b21ca9dc92e16b0c3a223f80d961ad3f8209dce4a2d -size 166744781 diff --git a/bimanual_assembly/assembly_demo_11_2026-03-19_19-14-47_972823.h5 b/bimanual_assembly/assembly_demo_11_2026-03-19_19-14-47_972823.h5 deleted file mode 100644 index 01643ed3633be8352e39137764ae2715be0090a2..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_11_2026-03-19_19-14-47_972823.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9580a69f3eff80559369db774723ae4d2b0319fcdac9c3b5d08bbd4588a0037e -size 164095424 diff --git a/bimanual_assembly/assembly_demo_12_2026-03-19_15-43-53_469273.h5 b/bimanual_assembly/assembly_demo_12_2026-03-19_15-43-53_469273.h5 deleted file mode 100644 index ac03f88079ae46cf525a1b62609fbc168aadebcf..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_12_2026-03-19_15-43-53_469273.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:123d74aac85eaa972fc064bc0cb289a903465862f39c624d43cab7bd35fa199e -size 143395308 diff --git a/bimanual_assembly/assembly_demo_12_2026-03-19_17-15-03_971371.h5 b/bimanual_assembly/assembly_demo_12_2026-03-19_17-15-03_971371.h5 deleted file mode 100644 index 702872addbc66adb4d08814cb513679ac70aa934..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_12_2026-03-19_17-15-03_971371.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:18ea1d753a7f979febe9d4d9051859f5e1a9b6fade071cfe94b5dd1a8daf6ce1 -size 161109476 diff --git a/bimanual_assembly/assembly_demo_12_2026-03-19_19-15-14_185844.h5 b/bimanual_assembly/assembly_demo_12_2026-03-19_19-15-14_185844.h5 deleted file mode 100644 index 9e18a64a7738d11fc7d9eec04b752980b9df6215..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_12_2026-03-19_19-15-14_185844.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:59bb2988dc1e1fe3a5e6d407415baadd8301bf554577db6804f4828ced5764e8 -size 150641352 diff --git a/bimanual_assembly/assembly_demo_12_2026-03-19_19-30-52_804150.h5 b/bimanual_assembly/assembly_demo_12_2026-03-19_19-30-52_804150.h5 deleted file mode 100644 index caea088b53ac7d33d3bbd995f9627c3c0d50641b..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_12_2026-03-19_19-30-52_804150.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:52abbc697959a4c6b3cdbbb2594ffb5c1a5520f93d7b29c69077406b7964c0f7 -size 148029153 diff --git a/bimanual_assembly/assembly_demo_13_2026-03-19_17-15-51_172267.h5 b/bimanual_assembly/assembly_demo_13_2026-03-19_17-15-51_172267.h5 deleted file mode 100644 index 60740b6d7458c166a25934733268bae09a2e946b..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_13_2026-03-19_17-15-51_172267.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3e2f747b4c479b88a4f060e56bc5e04d8e129619a58b0ee1e4ee083ca3feda41 -size 131218180 diff --git a/bimanual_assembly/assembly_demo_13_2026-03-19_19-15-38_186397.h5 b/bimanual_assembly/assembly_demo_13_2026-03-19_19-15-38_186397.h5 deleted file mode 100644 index 52f9f76f37e3afc40243c3cdbd2ce13a2c4ad961..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_13_2026-03-19_19-15-38_186397.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a74a6e39a7c6e2a2b737a57f3aa4c67e660dd3523f09115ba2eb2ac53d16651c -size 140988816 diff --git a/bimanual_assembly/assembly_demo_13_2026-03-19_19-31-19_705943.h5 b/bimanual_assembly/assembly_demo_13_2026-03-19_19-31-19_705943.h5 deleted file mode 100644 index 0e15294f62781437de83a131391e4457cd1f1d15..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_13_2026-03-19_19-31-19_705943.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:90d3c6e3577d166a6b717a937688d49ea76773a94f40318d994518c33c5447b4 -size 163428398 diff --git a/bimanual_assembly/assembly_demo_14_2026-03-19_17-18-03_825644.h5 b/bimanual_assembly/assembly_demo_14_2026-03-19_17-18-03_825644.h5 deleted file mode 100644 index 2daae1c76596fc6e118b654ad6c1e0f2f2588b48..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_14_2026-03-19_17-18-03_825644.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:52f7fa480d6c82c04c214bcc253205e9c7ce7b25ab2c4eb50dfb1ef36054b2e7 -size 179168057 diff --git a/bimanual_assembly/assembly_demo_15_2026-03-19_17-18-34_861352.h5 b/bimanual_assembly/assembly_demo_15_2026-03-19_17-18-34_861352.h5 deleted file mode 100644 index 03beb04bdc8cf6b4d33283bcc1c2fd787b83841f..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_15_2026-03-19_17-18-34_861352.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4c2a0840ce87c5c7f8f6706d9c3368c76d02fba918cd34eb9287969814c6f243 -size 169772435 diff --git a/bimanual_assembly/assembly_demo_16_2026-03-19_15-45-55_304402.h5 b/bimanual_assembly/assembly_demo_16_2026-03-19_15-45-55_304402.h5 deleted file mode 100644 index 369d045c001bc9171c1c511337aad374bfa1deda..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_16_2026-03-19_15-45-55_304402.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2afe0868d826d7697bfb4b05c4fae97a37602021e9eed7da78e528f03e501af8 -size 201170042 diff --git a/bimanual_assembly/assembly_demo_16_2026-03-19_17-19-01_655945.h5 b/bimanual_assembly/assembly_demo_16_2026-03-19_17-19-01_655945.h5 deleted file mode 100644 index 539afd6807f6e221536cb1521feb1b5feb4ff78e..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_16_2026-03-19_17-19-01_655945.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:79ee045d3c936802701686728c41a7d2fc1e8c81beafc89538c26c019652407f -size 154606416 diff --git a/bimanual_assembly/assembly_demo_16_2026-03-19_19-18-03_755407.h5 b/bimanual_assembly/assembly_demo_16_2026-03-19_19-18-03_755407.h5 deleted file mode 100644 index 3894efdae8b79b8c931b5cb90ffaef43d37ff12b..0000000000000000000000000000000000000000 --- a/bimanual_assembly/assembly_demo_16_2026-03-19_19-18-03_755407.h5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid 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