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RoboTwin 2.0 annotation trees for letterbox encoders / z (tar shards)
These are DROID-shaped per-episode dumps of RoboTwin 2.0 aloha-agilex demos (50 tasks), plus split and seed lists
and cached embeddings. They are used to train and test our letterbox DINOv3 LoRA encoders and the frozen-VLA z
projector. Each tree is stored as one uncompressed tar per task: <tree>/<task>.tar, which unpacks to <task>/....
| tree | what | colors |
|---|---|---|
annotations |
per-action tree, demo_clean (50 × 50) |
R/B-swapped PNGs (legacy; kept for old results) |
annotations_eval_clean |
same writer, recollected eval-seed demos (seeds ≥ 100000) | presumably swapped as well (same writer) |
annotations_randomized |
per-action tree, demo_randomized |
swapped (same writer) |
annotations_firstlast_rgb |
firstlast pairs (frame1 = first gripper close, frame2 = last frame), demo_clean |
true RGB |
annotations_firstlast_rgb_eval |
the same from the eval-seed demos | true RGB |
Other files:
split_firstlast.json: the train/val split.z_firstlast_rgb/<phase>/{train,eval}/z_cache.pt: L2-normalized z per episode, from the diff_dual / concat_dual encoders, plus a task one-hot control.eval_demo_clean_seeds_sapien301*: seed lists for local evals.seed_subsets/.tar_manifest.json: tar member counts and bytes.
hf download rchu233/robotwin2-letterbox-annotations --repo-type dataset --local-dir robotwin_letterbox
cd robotwin_letterbox && for t in annotations_firstlast_rgb/*.tar; do tar -xf "$t" -C annotations_firstlast_rgb; done
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