File size: 14,678 Bytes
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"basis": "Human-1M \u00b7 LeRobot v3.0",
"tree": "release-staging/oss_100k_v1/\n\u2514\u2500\u2500 vendors/\n \u2514\u2500\u2500 {vendor_id}/\n \u2514\u2500\u2500 {batch_id}/\n \u251c\u2500\u2500 versions.json\n \u2514\u2500\u2500 v0/\n \u2514\u2500\u2500 shard_00/\n \u251c\u2500\u2500 data/\n \u2502 \u2514\u2500\u2500 chunk-000/file-000.parquet\n \u251c\u2500\u2500 meta/\n \u2502 \u251c\u2500\u2500 info.json\n \u2502 \u251c\u2500\u2500 episodes/chunk-000/file-000.parquet\n \u2502 \u251c\u2500\u2500 tasks.parquet\n \u2502 \u251c\u2500\u2500 subtasks.parquet\n \u2502 \u251c\u2500\u2500 environments.parquet\n \u2502 \u2514\u2500\u2500 scenes.parquet\n \u2514\u2500\u2500 videos/\n \u2514\u2500\u2500 observation.images.{camera}/\n \u2514\u2500\u2500 chunk-000/file-000.mp4",
"fields": [
{
"group": "Shard info",
"field": "codebase_version",
"shape": "string",
"description": "LeRobot v3.0.",
"basis": "Human-1M schema"
},
{
"group": "Shard info",
"field": "data_format_version",
"shape": "string",
"description": "Human-1M format version declared by the delivery.",
"basis": "Human-1M schema"
},
{
"group": "Shard info",
"field": "total_episodes",
"shape": "integer",
"description": "Episode count within this shard.",
"basis": "Human-1M schema"
},
{
"group": "Shard info",
"field": "fps",
"shape": "number > 0",
"description": "Delivered frame rate; resolve timing from the episode and stream metadata.",
"basis": "Human-1M schema"
},
{
"group": "Shard info",
"field": "data_path",
"shape": "path template",
"description": "Relative path template for frame Parquet files.",
"basis": "Human-1M schema"
},
{
"group": "Shard info",
"field": "video_path",
"shape": "path template",
"description": "Relative path template for per-camera MP4 files.",
"basis": "Human-1M schema"
},
{
"group": "Shard info",
"field": "features",
"shape": "mapping",
"description": "Feature names, dtypes, and shapes, including the available camera streams.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "index",
"shape": "int64",
"description": "Index identifying a frame row in the dataset.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "episode_index",
"shape": "int64",
"description": "Shard-local episode reference; join to episode metadata.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "frame_index",
"shape": "int64",
"description": "Frame position inside the episode.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "timestamp",
"shape": "float",
"description": "Frame timestamp in seconds, using the delivery clock convention.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "task_index",
"shape": "int64",
"description": "Reference to the T1 episode-level task instruction.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "subtask_index",
"shape": "int64",
"description": "Reference to the T2 subtask label; preserve explicit segment boundaries separately.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "observation.state.hand_left_cam",
"shape": "21 \u00d7 3 float32",
"description": "Left-hand joint positions in the camera frame, in metres; stored as 63 values.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "observation.state.hand_right_cam",
"shape": "21 \u00d7 3 float32",
"description": "Right-hand joint positions in the camera frame, in metres; stored as 63 values.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "observation.state.hand_left_cam_rotation",
"shape": "21 \u00d7 4 float32",
"description": "Left-hand per-joint quaternions in (qx, qy, qz, qw) order; stored as 84 values.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "observation.state.hand_right_cam_rotation",
"shape": "21 \u00d7 4 float32",
"description": "Right-hand per-joint quaternions in (qx, qy, qz, qw) order; stored as 84 values.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "observation.state.camera_position",
"shape": "3 float32",
"description": "Camera translation in the world frame, in metres.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "observation.state.camera_rotation",
"shape": "4 float32",
"description": "Camera orientation in the world frame, (qx, qy, qz, qw).",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "environment_index",
"shape": "int64",
"description": "Reference to the environment dictionary.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "scene_index",
"shape": "int64",
"description": "Reference to the scene dictionary.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "scene_id",
"shape": "identifier",
"description": "Consistent anonymous scene identifier.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "collector_id",
"shape": "identifier",
"description": "Consistent anonymous collector identifier.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "left_hand_mask / right_hand_mask",
"shape": "int64, 0 or 1",
"description": "Separate per-hand presence indicators.",
"basis": "Human-1M schema"
},
{
"group": "Frame data",
"field": "left_hand_confidence / right_hand_confidence",
"shape": "float",
"description": "Per-hand tracking confidence; consult the supplied confidence convention.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "episode_index",
"shape": "int64",
"description": "Shard-local episode index; not the globally unique episode ID.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "episode_id",
"shape": "string",
"description": "Stable, globally unique episode identifier after consistent anonymization.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "length",
"shape": "int64",
"description": "Number of frames in the episode.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "data/chunk_index \u00b7 data/file_index",
"shape": "int64",
"description": "Locate the episode frame-data file through info.json.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "dataset_from_index \u00b7 dataset_to_index",
"shape": "int64",
"description": "Frame-row interval, with an exclusive upper bound.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "meta/episodes/chunk_index \u00b7 meta/episodes/file_index",
"shape": "int64",
"description": "Location of the episode metadata record.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "videos/observation.images.{cam}/chunk_index \u00b7 file_index",
"shape": "int64",
"description": "Locate the MP4 for each available camera using video_path.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "videos/observation.images.{cam}/from_timestamp \u00b7 to_timestamp",
"shape": "seconds",
"description": "Episode interval inside that camera\u2019s concatenated video. These are not subtask boundaries.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "camera_intrinsics/{cam}",
"shape": "calibration parameters",
"description": "Per-episode camera calibration. Use the camera model supplied for the rig; do not assume every camera uses the same projection.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "camera_extrinsics/T_{i}_{j}",
"shape": "rigid transform",
"description": "Camera j expressed in camera i\u2019s coordinate frame. Interpret the delivered transform convention.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "rig_id",
"shape": "string",
"description": "Recording-rig identifier, consistently anonymized.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "country",
"shape": "string",
"description": "ISO 3166-1 alpha-2 recording country code.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "capture_privacy",
"shape": "public | private",
"description": "Declared recording-environment privacy category. Do not infer it solely from the broad environment label.",
"basis": "Human-1M schema"
},
{
"group": "Episode metadata",
"field": "vendor_id",
"shape": "string",
"description": "Stable anonymous collection-source identifier on every episode row in meta/episodes/*.parquet, including nested chunk files.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "tasks.parquet: task + task_index",
"shape": "text index + integer",
"description": "T1: episode-level natural-language task instruction and its local dictionary index.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "subtasks.parquet: subtask + subtask_index",
"shape": "text index + integer",
"description": "T2: natural-language subtask description and its label reference.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "subtasks.parquet: episode_index",
"shape": "integer",
"description": "Episode containing the annotation occurrence.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "subtasks.parquet: timestamp_start \u00b7 timestamp_end",
"shape": "seconds",
"description": "Annotation occurrence boundaries in the episode timestamp convention. Adjacent identical descriptions can remain separate rows.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "subtasks.parquet: source_id",
"shape": "string",
"description": "Anonymous annotation-provenance identifier.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "environments.parquet: environment + environment_index",
"shape": "text index + integer",
"description": "Local environment description and broad environment category.",
"basis": "Human-1M schema"
},
{
"group": "Language & context",
"field": "scenes.parquet: scene + scene_index",
"shape": "text index + integer",
"description": "Scene description and the local scene lookup index.",
"basis": "Human-1M schema"
},
{
"group": "Video streams",
"field": "observation.images.main",
"shape": "MP4",
"description": "Main monocular egocentric video; a stereo delivery may also supply main as the left-view alias.",
"basis": "Human-1M schema"
},
{
"group": "Video streams",
"field": "observation.images.main_left / main_right",
"shape": "MP4",
"description": "Left and right egocentric streams for stereo capture.",
"basis": "Human-1M schema"
},
{
"group": "Video streams",
"field": "observation.images.wrist_left / wrist_right",
"shape": "MP4, when present",
"description": "Left and right wrist-camera streams.",
"basis": "Human-1M schema"
},
{
"group": "Video streams",
"field": "observation.images.main_add{k}",
"shape": "MP4, when present",
"description": "Additional main camera streams.",
"basis": "Human-1M schema"
}
],
"notes": [
"Deliveries use Human-1M V1.7 and LeRobot v3.0. Read meta/info.json for feature definitions, frame rate, and path templates.",
"Release paths follow vendors/{vendor_id}/{batch_id}/v0/{shard_name}/ under release-staging/oss_100k_v1. Resolve frame and video files with each shard\u2019s meta/info.json and episode metadata.",
"Each vN is a complete full_clean snapshot. Read one version of a delivery rather than concatenating versions.",
"Batch-level versions.json, alongside v0/, records version entries, changed episodes, blurred episodes, removed episodes, and creation information.",
"Use each camera\u2019s own episode video offset.",
"Subtask boundaries use timestamp_start and timestamp_end in subtasks.parquet. Video from_timestamp/to_timestamp locates the episode within a longer MP4.",
"For each hand joint, p_world = R(camera_rotation) \u00d7 p_camera + camera_position. The world frame has negative Z toward gravity; projection follows the supplied camera calibration.",
"Hand joint order: wrist (0); thumb CMC/MCP/IP/tip (1\u20134); index MCP/PIP/DIP/tip (5\u20138); middle (9\u201312); ring (13\u201316); little (17\u201320).",
"Use per-hand masks and confidence to distinguish valid tracking. A zeroed failure record is a sentinel, not a valid rotation.",
"Capture-privacy and full calibration coverage require episode-level metadata; they cannot be established from aggregate curation statistics.",
"Gallery videos are silent H.264 excerpts. Read the full episode\u2019s timing and calibration metadata when working with geometry."
],
"storage_url": "https://huggingface.co/buckets/nvidia/human-1m-100k-oss/tree/release-staging"
}
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