diff --git a/PROCESSING.md b/PROCESSING.md new file mode 100644 index 0000000000000000000000000000000000000000..50e4cfb264e21a304618263e0994005b79442443 --- /dev/null +++ b/PROCESSING.md @@ -0,0 +1,245 @@ +# How `block-stack` was produced + +Raw teleoperation recordings of a **Swoosh right arm** (UFACTORY xArm 7) doing block +manipulation, turned into LeRobot splits for world-model training. + +Everything below is reproducible from this repo: + +```bash +python -m quickdraw.data.processors +processor=block_stack \ + +source.dir= +source.name=block_stack +``` + +Reader: [`src/quickdraw/data/block_stack.py`](https://github.com/isaac-ward/quickdraw/blob/main/src/quickdraw/data/block_stack.py) · +Processor: `block_stack()` in `src/quickdraw/data/processors.py` + +--- + +## 1. The robot and the teleop scheme + +One xArm 7, right arm, **mounted 45° clockwise from vertical**. The mount is a fixed +rotation between the arm's base frame and the world frame: + +``` +R_WORLD_FROM_BASE = [[1, 0, 0 ], + [0, √½, -√½ ], + [0, √½, √½ ]] +``` + +It is recorded in every run's provenance and verified against the physical arm (jog +X/+Y/+Z +20 mm, confirm the world axis that moves). The processor asserts the recorded matrix matches +the one it assumes, so a re-mount cannot silently corrupt a rebuild. + +An operator drove the arm with an **Xbox controller**: + +| control | effect | +|---|---| +| left stick | planar motion parallel to the ground | +| right stick Y | height of that plane | +| right stick X | rotate the end-effector about the **world** vertical | +| right trigger | gripper, proportional | + +End-effector positioning: the pose goes to `set_servo_cartesian` and the **xArm controller +solves the IK**. No IK is performed in this pipeline. + +## 2. What was recorded, and at what rate + +The collection side writes five independent JSONL streams plus four cameras. **All of them +share one monotonic clock origin** (`t_loop0`), recorded in `run.json`. + +| stream | rate | contents | +|---|---|---| +| `controller` | 100 Hz | Xbox axes, post-deadzone (0.12) and post-expo (2.0) | +| `commanded` | 100 Hz | the integrated target pose the stick asked for | +| `xarm_command` | 100 Hz | the literal SDK arguments sent | +| `arm_state` | 50 Hz | what the arm reported back | +| `tick` | 100 Hz | control-loop timing | +| 4 × camera | 30 Hz | MJPG → MP4, plus one timestamp per frame | + +Cameras are two scene views and two on the right gripper: +`scene_left`, `scene_right`, `gripper_right_bottom`, `gripper_right_top`, 640×480 @ 30 fps. + +**Camera timestamps come from the V4L2 kernel buffer at capture**, not from when userspace +received the frame, so the ~21 ms read lag is removed at the source. + +## 3. Synchronisation + +There is **no cross-stream alignment step, deliberately** — no cross-correlation, no learned +offset, no shifting. One clock plus kernel-level camera stamps means the streams are already +on the same timeline. All the processor does is **resample**. + +1. **Grid.** 30 Hz (= the camera rate), spanning `[t_lo, t_hi]` where `t_lo` is the *latest* + start and `t_hi` the *earliest* end across all six streams. Cameras open staggered 0.25 s + apart, so this trims 1–2 s off the front of each run — which is why usable duration is + shorter than the wall-clock A-to-B duration in `run.json`. +2. **Nearest-in-time, never interpolated.** Every source runs 1.7–3.3× the grid rate, so + interpolation would invent precision. It would also be actively wrong for `joints_real_deg`, + for rotation components, and for the gripper's 20 Hz poll. +3. **Per-camera index map.** Each camera's timestamps are matched to the grid to decide which + MP4 frame becomes row *i*, then decoded in one forward pass. + +Resampling displacement is reported per stream as max, p99, and the fraction past that stream's +*own* half-period (the floor for any nearest-neighbour resample). On a representative 125 s run: + +| stream | max | p99 | own bound | past bound | +|---|---|---|---|---| +| controller | 22.3 ms | 7.0 ms | 5.0 ms | 3.3% | +| arm_state | 33.7 ms | 9.4 ms | 10.0 ms | 0.4% | +| scene_left | 17.7 ms | 17.6 ms | 16.0 ms | 25.3% | +| scene_right | 7.8 ms | 7.8 ms | 16.0 ms | 0.0% | +| gripper_right_bottom | 18.0 ms | 18.0 ms | 16.0 ms | 20.6% | +| gripper_right_top | 4.3 ms | 4.2 ms | 16.0 ms | 0.0% | + +The camera rows are **phase, not fault**. A camera whose true rate differs from 30 Hz by a +fraction of a percent drifts through the grid's phase, so its displacement sweeps the full +±half-period; `max ≈ half the camera period` is the arithmetic floor. The controller and arm +maxima are isolated stream hiccups (`dt > 3×` median), two and one respectively in that run. + +## 4. `action` — 5 dims, the controller + +``` +[move_x, move_y, height, yaw, gripper] +``` + +`move_x, move_y, height, yaw` ∈ [−1, 1]; `gripper` ∈ [0, 1] where **1 = squeeze**. + +**This is the raw human input, not a robot command.** The commanded pose and the literal SDK +arguments were both recorded and are both deliberately excluded — the target pose at time *t* +is `target[t−1] + stick × rate × dt`, so feeding it as an observation hands a world model the +answer to "where does the arm go next". Both remain in the raw recordings. + +## 5. `observation_vector` — 17 dims, the arm + +| idx | dims | field | source | transform | +|---|---|---|---|---| +| 0:3 | 3 | `ee_{x,y,z}_mm` | `pose_world_xyz_mm` | none; mm, world frame | +| 3:9 | 6 | `ee_rot6_*` | `pose_base_mm_deg[3:6]` | RPY → rotation matrix → world frame → first two columns | +| 9 | 1 | `gripper` | `gripper_pos` | `(x − closed)/(open − closed)`, **1 = open** | +| 10:17 | 7 | `joint{1..7}_rad` | `joints_real_deg` | degrees → radians | + +Three choices that are not obvious: + +- **`joints_real_deg`, not `joints_deg`.** The latter is the controller's *planned* angle; + on an earlier corpus the two were measured diverging by up to 5.02°. +- **6D rotation, not Euler** ([Zhou et al.](https://arxiv.org/abs/1812.07035) — the first two + columns of the rotation matrix; the third is recoverable by cross product, so nothing is + lost). Euler angles wrapped 702 times in a single stream on an earlier corpus, and every + wrap is a discontinuity a model must spend capacity memorising. Verified orthonormal on this + data: column norms exactly 1.0, column dot product 7e-08. +- **Gripper polarity is inverted between the two streams.** Action `gripper` 1 = squeeze; + `gripper_pos` 850 = open. The state is normalised so 1 = open (monotonic in aperture) and + the action is left as recorded. They are different quantities and were not collapsed. + +### A note on the rotation dimensions + +The orientation is effectively **1 degree of freedom** in this corpus. Across all 56 runs the +tool axis stays **37.5°–50.5° from straight down with std 0.2°** — only its azimuth changes, +driven by the operator's right stick (111.6° of range). Singular values of the centred 6D +cloud are `[1.00, 0.31, 0.009, 0.004, 0.002, 0.001]`. + +The full 6D is kept anyway, because it is exact and assumption-free: a pure-yaw +reconstruction `R = Rz(θ) · R₀` fits to mean 0.096° but **max 11.3°**, so there are real tilt +excursions that a 2-dim yaw encoding would discard. + +**Consumers should be aware** that `ee_rot6_2` and `ee_rot6_5` have std ≈ 0.003 — roughly 100× +smaller than the other dims. The `normalization_stats.json` shipped here is a plain z-score, +which therefore amplifies those two by ~324× and ~302×, turning sensor noise into a +full-amplitude channel. **If you z-score this state vector, floor those two standard +deviations or drop the two dims.** The parquet holds exact raw values, so any normalisation +scheme can be recomputed. + +## 6. What was dropped + +Nothing is destroyed — every raw stream is retained upstream and any of this can be restored +by a re-run. + +| stream | dropped | why | +|---|---|---| +| `commanded` | all 6 fields | a consequence of action + integrator state; leaks the answer | +| `xarm_command` | all 7 fields | same, plus SDK return codes | +| `tick` | all 4 fields | loop-health telemetry, not physics | +| `controller` | `raw`, `raw_age_s`, `input_age_s`, `connected` | pre-shaping axis values and liveness | +| `arm_state` | `joints_deg` | the *planned* angles (see above) | +| `arm_state` | `pose_base_mm_deg[0:3]` | **exactly recoverable**: `R_WORLD_FROM_BASE @ base_xyz == pose_world_xyz_mm` to the digit | +| `arm_state` | `report_alive`, `gripper_pos_t`, `gripper_pos_age_s`, `state`, `mode`, `error_code`, `warn_code` | liveness and fault telemetry, constant in all published runs | + +## 7. Campaigns and splits + +Nine recording campaigns plus bring-up folders. Campaigns 1–2 (bring-up), `shakedown`, `audit` +and four stray test artefacts were excluded. **Every published run passes all 32 of the +collection side's own validation checks.** + +The per-episode `task` field carries the campaign name into `/meta/tasks.parquet`, so +any split can be sliced by recording condition. + +| split | source campaigns | episodes | frames | +|---|---|---|---| +| `train` | 3-play, 4-rgb, 5-play-long, 6-combos, 7-precision | 43 | 172,835 | +| `val` | (the longest episodes of the same pool) | 2 | 34,799 | +| `eval_purple_play` | 8-purple-play | 5 | 9,048 | +| `eval_purple_stack` | 9-purple-stack | 6 | 5,323 | + +`eval_*` are held-out conditions, written verbatim with no random splitting. + +### The train/val rule: longest trajectories to val + +Val is **not** a random sample. It is the longest episodes, taken as the prefix whose frame +share lands closest to 10%, with a floor of two episodes. + +**Why.** Open-loop rollout evaluation can only run as far as the *shortest* validation +episode — past that there is no ground truth to score against. On an earlier corpus a random +seed-0 draw pulled a short episode into val and capped every long-horizon number at a fifth of +the horizon the data actually supported. + +Here train's longest episode is 15,996 steps and val's shortest is **16,606 steps ≈ 9 minutes**, +so the ordering is strict and rollouts are evaluable to nine minutes. The realised split is +**83.2 / 16.8 by frames** rather than exactly 90/10 — the two longest episodes are much longer +than the rest, and the two-episode floor binds. + +**Read val loss accordingly.** Both val episodes come from `campaign5-play-long`. Val measures +long-horizon fidelity on long play trajectories; it is a rollout yardstick, not a +representative i.i.d. estimate of the training distribution. + +## 8. Verification + +`tests/test_block_stack_roundtrip.py` checks a built dataset against a fresh read of the +source recordings. + +**Vectors are bit-exact.** `max |diff| == 0.0` for both state and action across all 18,193 rows +of val episode 0. No silent recast, reorder or truncation. + +**Frames align with state rows.** Scored as a shift sweep, not a single number — mean |Δpixel| +of built frames against source frames at integer offsets: + +| camera | −3 | −2 | −1 | **0** | +1 | +2 | +3 | +|---|---|---|---|---|---|---|---| +| `scene_left` | 6.81 | 5.69 | 4.31 | **3.02** | 4.24 | 5.55 | 6.61 | +| `gripper_right_top` | 5.46 | 4.59 | 3.76 | **3.28** | 3.84 | 4.66 | 5.51 | + +The residual 3/255 at offset 0 is video re-encode loss. **The shape is the result**: a strict +minimum at 0, rising cleanly either side. A small number alone would prove nothing, because a +dataset misaligned by one row also scores "small" on a slowly-moving scene. The test asserts +both the argmin *and* that the curve is steep enough to discriminate, so it cannot pass +vacuously. + +## 9. Known issues + +- **`normalization_stats.json` z-scores two near-constant rotation dims** — see §5. Floor them + or drop them; the parquet values are exact. +- **`media/`** holds per-episode preview clips at build resolution. They duplicate the split + videos and exist so a human can see what a split contains; they are not needed for training. +- **LeRobot's own reader needs `torchcodec`**, which needs ffmpeg's shared libraries. Any + MP4-capable decoder reads these files; `quickdraw`'s loader uses `imageio`. + +## 10. Summary of the numbers + +| | | +|---|---| +| robot data | **2.056 hours** (7,400 s) | +| episodes | 56 | +| frames | 222,005 | +| rate | 30 Hz | +| cameras | 4 × 144×192 (from 640×480) | +| observation | 17 dims | +| action | 5 dims | +| raw corpus | 21 GB | diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..4aea98f987064d975a47fc23c2a0efbb2af09a7a --- /dev/null +++ b/README.md @@ -0,0 +1,47 @@ +--- +license: mit +pretty_name: block-stack +tags: +- world-models +- robotics +configs: + - config_name: train + data_files: train/data/**/*.parquet + - config_name: val + data_files: val/data/**/*.parquet + - config_name: eval_purple_play + data_files: eval_purple_play/data/**/*.parquet + - config_name: eval_purple_stack + data_files: eval_purple_stack/data/**/*.parquet +--- + +# block-stack + +Recorded trajectories (no simulator) packaged as LeRobot splits for world-model training. +Generated with [quickdraw](https://github.com/isaac-ward/quickdraw) (`data.processors`). + +## Observation / action +- **observation_vector** (17): the recorded state +- **observation.images.scene_left** (144×192×3, video): recorded camera stream, stored as MP4, aligned + 1:1 with the vector frames +- **observation.images.scene_right** (144×192×3, video): recorded camera stream, stored as MP4, aligned + 1:1 with the vector frames +- **observation.images.gripper_right_bottom** (144×192×3, video): recorded camera stream, stored as MP4, aligned + 1:1 with the vector frames +- **observation.images.gripper_right_top** (144×192×3, video): recorded camera stream, stored as MP4, aligned + 1:1 with the vector frames +- **action** (5): the recorded actions, at 30 Hz + +## Splits +| split | episodes | steps/ep (mean) | frames | +|---|---|---|---| +| `train` | 43 | 4019 | 172835 | +| `val` | 2 | 17400 | 34799 | +| `eval_purple_play` | 5 | 1810 | 9048 | +| `eval_purple_stack` | 6 | 887 | 5323 | + +Normalization statistics are computed on **train only** and applied to every split. + +## How this dataset was produced + +See **[PROCESSING.md](PROCESSING.md)** for the full account: source streams and rates, exactly which fields were kept and dropped and why, the resampling and synchronisation procedure, the train/val split rule, and the verification that images align with state rows. diff --git a/dataset_card.json b/dataset_card.json new file mode 100644 index 0000000000000000000000000000000000000000..5e46f1292cb7ebf3efa3bd9e0e11f11dfa45495d --- /dev/null +++ b/dataset_card.json @@ -0,0 +1,72 @@ +{ + "base_env": { + "obs_dim": 17, + "action_dim": 5, + "dt": 0.03333333333333333, + "position_idx": null, + "velocity_idx": null, + "dynamics_prior": false, + "quat_idx": null, + "mass": 12000.0, + "raw_dt": 0.05, + "dt_eff": 0.25, + "R": 1.0, + "r": 1.0, + "init_speed": 1.0 + }, + "split_env": { + "train": { + "obs_dim": 17, + "action_dim": 5, + "dt": 0.03333333333333333 + }, + "val": { + "obs_dim": 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0.3723389208316803, + 0.3448781669139862, + 0.28584638237953186 + ] + }, + "action": { + "mean": [ + 0.00041559035889804363, + -0.007957655005156994, + -0.0031298024114221334, + -0.0002412092435406521, + 0.5104498267173767 + ], + "std": [ + 0.45706403255462646, + 0.5660468339920044, + 0.389004647731781, + 0.33111438155174255, + 0.41846832633018494 + ] + } +} \ No newline at end of file diff --git a/progress.log b/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..0d6922483a49f2aee77983c4c36f0cd0d4689bee --- /dev/null +++ b/progress.log @@ -0,0 +1,108 @@ +[longhand] scratch/longhand: 56 runs across 15 campaigns @ 30.0 Hz, 144x192, cameras ['scene_left', 'scene_right', 'gripper_right_bottom', 'gripper_right_top'] +[longhand] _rt -> EXCLUDED +[longhand] _rt2 -> EXCLUDED +[longhand] _rt3 -> EXCLUDED +[longhand] _rt4 -> EXCLUDED +[longhand] audit -> EXCLUDED +[longhand] campaign1-tests -> EXCLUDED +[longhand] campaign2-play -> EXCLUDED +[longhand] campaign3-play -> train/val +[longhand] campaign4-rgb -> train/val +[longhand] campaign5-play-long -> train/val +[longhand] campaign6-combos -> train/val +[longhand] campaign7-precision -> train/val +[longhand] campaign8-purple-play -> eval_purple_play +[longhand] campaign9-purple-stack -> eval_purple_stack +[longhand] shakedown -> EXCLUDED +[longhand] 1/56 campaign3-play/recording_2026_09_10_05_31_26 -> 3738 steps (125s) sync max 34ms, 25.25% past bound (22s) +[longhand] 2/56 campaign3-play/recording_2026_09_10_05_34_33 -> 4073 steps (136s) sync max 31ms, 17.28% past bound (25s) +[longhand] 3/56 campaign3-play/recording_2026_09_10_05_37_26 -> 3049 steps (102s) sync max 18ms, 27.16% past bound (25s) +[longhand] 4/56 campaign3-play/recording_2026_09_10_05_39_37 -> 1120 steps (37s) sync max 17ms, 16.96% past bound (25s) +[longhand] 5/56 campaign3-play/recording_2026_09_10_05_40_31 -> 3958 steps (132s) sync max 33ms, 22.46% past bound (25s) +[longhand] 6/56 campaign3-play/recording_2026_09_10_05_43_21 -> 2810 steps (94s) sync max 34ms, 28.15% past bound (25s) +[longhand] 7/56 campaign3-play/recording_2026_09_10_05_45_28 -> 3797 steps (127s) sync max 31ms, 20.17% past bound (32s) +[longhand] 8/56 campaign3-play/recording_2026_09_10_05_48_16 -> 1712 steps (57s) sync max 18ms, 22.14% past bound (32s) +[longhand] 9/56 campaign3-play/recording_2026_09_10_05_49_34 -> 3625 steps (121s) sync max 29ms, 20.33% past bound (41s) +[longhand] 10/56 campaign3-play/recording_2026_09_10_05_52_09 -> 4031 steps (134s) sync max 31ms, 23.42% past bound (48s) +[longhand] 11/56 campaign3-play/recording_2026_09_10_05_56_10 -> 5100 steps (170s) sync max 25ms, 8.63% past bound (59s) +[longhand] 12/56 campaign3-play/recording_2026_09_10_05_59_46 -> 5245 steps (175s) sync max 22ms, 18.67% past bound (61s) +[longhand] 13/56 campaign3-play/recording_2026_09_10_06_03_25 -> 4352 steps (145s) sync max 33ms, 16.18% past bound (61s) +[longhand] 14/56 campaign3-play/recording_2026_09_10_06_06_30 -> 4094 steps (136s) sync max 30ms, 16.15% past bound (63s) +[longhand] 15/56 campaign3-play/recording_2026_09_10_06_09_28 -> 3876 steps (129s) sync max 24ms, 18.16% past bound (67s) +[longhand] 16/56 campaign4-rgb/recording_2026_09_10_06_12_52 -> 2190 steps (73s) sync max 18ms, 30.00% past bound (67s) +[longhand] 17/56 campaign4-rgb/recording_2026_09_10_06_14_26 -> 1043 steps (35s) sync max 17ms, 14.96% past bound (67s) +[longhand] 18/56 campaign4-rgb/recording_2026_09_10_06_15_17 -> 1176 steps (39s) sync max 18ms, 33.33% past bound (67s) +[longhand] 19/56 campaign4-rgb/recording_2026_09_10_06_16_13 -> 926 steps (31s) sync max 17ms, 13.50% past bound (67s) +[longhand] 20/56 campaign4-rgb/recording_2026_09_10_06_20_44 -> 845 steps (28s) sync max 32ms, 10.65% past bound (68s) +[longhand] 21/56 campaign4-rgb/recording_2026_09_10_06_22_04 -> 1176 steps (39s) sync max 32ms, 17.60% past bound (71s) +[longhand] 22/56 campaign4-rgb/recording_2026_09_10_06_28_48 -> 1039 steps (35s) sync max 20ms, 14.53% past bound (72s) +[longhand] 23/56 campaign4-rgb/recording_2026_09_10_06_29_37 -> 789 steps (26s) sync max 18ms, 33.33% past bound (72s) +[longhand] 24/56 campaign4-rgb/recording_2026_09_10_06_30_16 -> 759 steps (25s) sync max 24ms, 33.33% past bound (72s) +[longhand] 25/56 campaign4-rgb/recording_2026_09_10_06_30_58 -> 1413 steps (47s) sync max 18ms, 28.95% past bound (77s) +[longhand] 26/56 campaign5-play-long/recording_2026_09_10_06_32_17 -> 5630 steps (188s) sync max 26ms, 9.02% past bound (107s) +[longhand] 27/56 campaign5-play-long/recording_2026_09_10_06_36_14 -> 1303 steps (43s) sync max 17ms, 18.96% past bound (107s) +[longhand] 28/56 campaign5-play-long/recording_2026_09_10_06_37_16 -> 9123 steps (304s) sync max 32ms, 7.56% past bound (123s) +[longhand] 29/56 campaign5-play-long/recording_2026_09_10_06_43_58 -> 18193 steps (606s) sync max 36ms, 6.18% past bound (177s) +[longhand] 30/56 campaign5-play-long/recording_2026_09_10_07_02_09 -> 621 steps (21s) sync max 17ms, 8.70% past bound (177s) +[longhand] 31/56 campaign5-play-long/recording_2026_09_10_07_03_02 -> 4129 steps (138s) sync max 30ms, 13.85% past bound (177s) +[longhand] 32/56 campaign5-play-long/recording_2026_09_10_07_10_28 -> 12944 steps (431s) sync max 20ms, 6.23% past bound (177s) +[longhand] 33/56 campaign5-play-long/recording_2026_09_10_07_21_38 -> 2743 steps (91s) sync max 26ms, 25.63% past bound (177s) +[longhand] 34/56 campaign5-play-long/recording_2026_09_10_07_23_35 -> 15996 steps (533s) sync max 33ms, 5.59% past bound (195s) +[longhand] 35/56 campaign5-play-long/recording_2026_09_10_07_35_06 -> 15638 steps (521s) sync max 34ms, 6.43% past bound (203s) +[longhand] 36/56 campaign5-play-long/recording_2026_09_10_07_46_40 -> 16606 steps (554s) sync max 31ms, 4.87% past bound (210s) +[longhand] 37/56 campaign6-combos/recording_2026_09_10_07_59_48 -> 6140 steps (205s) sync max 31ms, 12.31% past bound (210s) +[longhand] 38/56 campaign6-combos/recording_2026_09_10_08_04_05 -> 6491 steps (216s) sync max 31ms, 14.54% past bound (210s) +[longhand] 39/56 campaign6-combos/recording_2026_09_10_08_08_37 -> 9080 steps (303s) sync max 33ms, 10.64% past bound (219s) +[longhand] 40/56 campaign7-precision/recording_2026_09_10_08_17_16 -> 4457 steps (149s) sync max 33ms, 15.77% past bound (219s) +[longhand] 41/56 campaign7-precision/recording_2026_09_10_08_20_24 -> 2849 steps (95s) sync max 33ms, 13.72% past bound (219s) +[longhand] 42/56 campaign7-precision/recording_2026_09_10_08_22_35 -> 1581 steps (53s) sync max 33ms, 33.40% past bound (219s) +[longhand] 43/56 campaign7-precision/recording_2026_09_10_08_23_48 -> 3473 steps (116s) sync max 33ms, 20.47% past bound (220s) +[longhand] 44/56 campaign7-precision/recording_2026_09_10_08_26_24 -> 2337 steps (78s) sync max 33ms, 25.80% past bound (221s) +[longhand] 45/56 campaign7-precision/recording_2026_09_10_08_29_18 -> 2364 steps (79s) sync max 33ms, 15.65% past bound (225s) +[longhand] 46/56 campaign8-purple-play/recording_2026_09_10_08_32_28 -> 1760 steps (59s) sync max 33ms, 22.56% past bound (225s) +[longhand] 47/56 campaign8-purple-play/recording_2026_09_10_08_33_50 -> 1751 steps (58s) sync max 33ms, 25.76% past bound (225s) +[longhand] 48/56 campaign8-purple-play/recording_2026_09_10_08_35_39 -> 1905 steps (63s) sync max 30ms, 23.62% past bound (228s) +[longhand] 49/56 campaign8-purple-play/recording_2026_09_10_08_37_05 -> 1842 steps (61s) sync max 33ms, 23.51% past bound (230s) +[longhand] 50/56 campaign8-purple-play/recording_2026_09_10_08_38_28 -> 1790 steps (60s) sync max 18ms, 33.52% past bound (231s) +[longhand] 51/56 campaign9-purple-stack/recording_2026_09_10_08_40_08 -> 867 steps (29s) sync max 33ms, 33.33% past bound (231s) +[longhand] 52/56 campaign9-purple-stack/recording_2026_09_10_08_40_54 -> 864 steps (29s) sync max 33ms, 18.98% past bound (231s) +[longhand] 53/56 campaign9-purple-stack/recording_2026_09_10_08_41_43 -> 970 steps (32s) sync max 33ms, 13.61% past bound (231s) +[longhand] 54/56 campaign9-purple-stack/recording_2026_09_10_08_42_34 -> 855 steps (28s) sync max 33ms, 19.06% past bound (232s) +[longhand] 55/56 campaign9-purple-stack/recording_2026_09_10_08_43_35 -> 852 steps (28s) sync max 33ms, 33.33% past bound (233s) +[longhand] 56/56 campaign9-purple-stack/recording_2026_09_10_08_44_33 -> 915 steps (30s) sync max 33ms, 9.07% past bound (234s) +[longhand] worst single-step nearest-neighbour displacement across all runs: 36.0 ms (a stream hiccup shows up here; the per-run 'past bound' percentage is what indicates a systematic problem) +[longhand] val = 2/45 episodes, 34799/207634 frames (16.8%), longest first: +[longhand] 18193 steps campaign5-play-long +[longhand] 16606 steps campaign5-play-long +[recorded] longhand: 56 episodes / 222005 frames (144x192 @ 30 Hz) -> train 43, val 2, eval_purple_play 5, eval_purple_stack 6 (train/val: explicit (processor-chosen)) +[encode] 224 episode clips (4 camera(s)) on 8 workers... +[encode] 10/224 (14s) +[encode] 20/224 (17s) +[encode] 30/224 (28s) +[encode] 40/224 (42s) +[encode] 50/224 (57s) +[encode] 60/224 (57s) +[encode] 70/224 (61s) +[encode] 80/224 (63s) +[encode] 90/224 (86s) +[encode] 100/224 (101s) +[encode] 110/224 (102s) +[encode] 120/224 (102s) +[encode] 130/224 (106s) +[encode] 140/224 (118s) +[encode] 150/224 (133s) +[encode] 160/224 (150s) +[encode] 170/224 (150s) +[encode] 180/224 (151s) +[encode] 190/224 (155s) +[encode] 200/224 (172s) +[encode] 210/224 (180s) +[encode] 220/224 (195s) +[encode] 224/224 (195s) +[lerobot] writing 4 split datasets (vectors + observation.images.scene_left, observation.images.scene_right, observation.images.gripper_right_bottom, observation.images.gripper_right_top): train, val, eval_purple_play, eval_purple_stack +[lerobot] 1/4 wrote train (2620s) +[lerobot] 2/4 wrote val (2620s) +[lerobot] 3/4 wrote eval_purple_play (2620s) +[lerobot] 4/4 wrote eval_purple_stack (2620s) +[done] logs/recording_2026_09_10_10_04_45_longhand (2621s total) +[done] now train with: data.root=logs/recording_2026_09_10_10_04_45_longhand environments=recorded data.repo_id=longhand data.cam=['scene_left', 'scene_right', 'gripper_right_bottom', 'gripper_right_top'] diff --git a/summary.json b/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cc092e8ec2630a369f02dece07b423ddce2e76a0 --- /dev/null +++ b/summary.json @@ -0,0 +1,170 @@ +{ + "dataset_root": "logs/recording_2026_09_10_10_04_45_longhand", + "counts": { + "train": { + "episodes": 43, + "steps_per_episode": 4019, + "transitions": 172835, + "seconds": 5761.17, + "minutes": 96.019, + "hours": 1.60032, + "training_windows": 169782 + }, + "val": { + "episodes": 2, + "steps_per_episode": 17400, + "transitions": 34799, + "seconds": 1159.97, + "minutes": 19.333, + "hours": 0.32221, + "training_windows": 34657 + }, + "eval_purple_play": { + "episodes": 5, + "steps_per_episode": 1810, + "transitions": 9048, + "seconds": 301.6, + "minutes": 5.027, + "hours": 0.08378, + "training_windows": 8693 + }, + "eval_purple_stack": { + "episodes": 6, + "steps_per_episode": 887, + "transitions": 5323, + "seconds": 177.43, + "minutes": 2.957, + "hours": 0.04929, + "training_windows": 4897 + } + }, + "splits": { + "train": { + "n_traj": 43, + "steps": 4019, + "seed": 0, + "split_rule": "explicit (processor-chosen)" + }, + "val": { + "n_traj": 2, + "steps": 17400, + "seed": 0, + "split_rule": "explicit (processor-chosen)" + }, + "eval_purple_play": { + "n_traj": 5, + "steps": 1810, + "seed": 0, + "split_rule": "explicit (processor-chosen)" + }, + "eval_purple_stack": { + "n_traj": 6, + "steps": 887, + "seed": 0, + "split_rule": "explicit (processor-chosen)" + } + }, + "split_env": { + "train": { + "obs_dim": 17, + "action_dim": 5, + "dt": 0.03333333333333333 + }, + "val": { + "obs_dim": 17, + "action_dim": 5, + "dt": 0.03333333333333333 + }, + "eval_purple_play": { + "obs_dim": 17, + "action_dim": 5, + "dt": 0.03333333333333333 + }, + "eval_purple_stack": { + "obs_dim": 17, + "action_dim": 5, + "dt": 0.03333333333333333 + } + }, + "coloring": { + "train": "camera", + "val": "camera", + "eval_purple_play": "camera", + "eval_purple_stack": "camera" + }, + "fps": 30, + "camera": [ + "scene_left", + "scene_right", + "gripper_right_bottom", + "gripper_right_top" + ], + "cameras": [ + "scene_left", + "scene_right", + "gripper_right_bottom", + "gripper_right_top" + ], + "image_hw": [ + 144, + 192 + ], + "normalization_stats": { + "observation_vector": { + "mean": [ + 523.3308715820312, + -95.10708618164062, + 119.55387878417969, + -0.18473860621452332, + -0.604494035243988, + -0.7055736184120178, + -0.8551785945892334, + 0.26050227880477905, + 0.0008033731719478965, + 0.8740886449813843, + -2.119403839111328, + -1.105477213859558, + 1.9915482997894287, + 1.2705090045928955, + 1.3486744165420532, + 0.8735427856445312, + 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