| { |
| "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" |
| } |
|
|
