csusupergear/merlin-dmd-data

merlin DMD training data

The data used by the DMD stage (release/stage_configs/3_dmd_merlin.yaml, branch release/merlin-causal-forcing) that produced merlin, OSCAR-2B distilled into a 4-step causal robot-video model with Causal Forcing++. The same five manifests and text-embedding store were used by every training stage of merlin.

Contents

path	what
clips/<dataset>/shard-XXXXX.tar	~10 GB uncompressed tars; members are <episode>/<cam>/{rgb.mp4, gripper_scenario.mp4, caption.pickle}
manifests/<dataset>/train_index.jsonl	the training manifests, unchanged except data_root is clips/<dataset> (relative)
manifests/shards.json	which shard holds which dataset, with file counts
text_cache/reason1_proj1024_T81/	caption embeddings: index.json (sha1 of stripped caption → row), meta.json, and emb.f16.npy ([104779, 512, 1024] float16) as zstd parts emb.f16.npy.zst.part-NN with its sha256 in emb.f16.npy.sha256
prepare.py	restores the tree, the embedding file, and manifests with absolute paths

Per clip: rgb.mp4 is the target video (640×360; DMD uses its first frame as the condition), gripper_scenario.mp4 the control video (arm skeleton and gripper drawn on black, same length and resolution) and caption.pickle a dict {"caption": str}. The loader stretches both videos to 640×384 and uses 81-frame windows; rows with n_frames < 81 are in the manifests but skipped by the loader.

dataset	manifest rows	rows with ≥ 81 frames
agibot	83,481	62,120
droid	36,356	35,877
rh20t_cfg5	4,447	4,438
rh20t_cfg7	1,328	1,328
interndata	1,006	1,006

Note: these files are not identical to the public zywu2115/OSCAR_robot release. Captions match, but control videos differ in resolution/rendering for some subsets (e.g. DROID), and OSCAR_robot ships no rgb.mp4.

Usage

hf download csusupergear/merlin-dmd-data --repo-type dataset --local-dir merlin_dmd_data
python merlin_dmd_data/prepare.py --repo_dir merlin_dmd_data      # needs zstd on PATH; prints the config overrides

Then set data_index_files and text_cache_dir in 3_dmd_merlin.yaml to the printed values.

Licenses

Each subset keeps its upstream license; use is non-commercial for all but DROID.

subset	upstream	license
agibot	AgiBot World	CC-BY-NC-SA-4.0
droid	DROID	CC-BY-4.0
rh20t_cfg5, rh20t_cfg7	RH20T	CC-BY-NC-4.0
interndata	InternData-A1	CC-BY-NC-SA-4.0

Control videos and captions are derived from the OSCAR pipeline (wuzy2115/oscar-public, OSCAR_robot); caption embeddings are from Cosmos-Reason1-7B projected by OSCAR-2B's crossattn_proj. Please cite the upstream datasets, OSCAR, and Causal Forcing / Causal Forcing++ (arXiv:2602.02214, arXiv:2605.15141).