Remove four poor-quality demonstrations and recompute affected datasets

Reprocess click_mouse (99), hammer_nail (99), pick_bucket (98); recompute normalizers and update counts/removal provenance. Unchanged tasks retain their verified archive checksums.

README.md

@@ -17,21 +17,26 @@ source_datasets:
 
 Processed demonstrations for all six single-arm DexJoCo tasks, ready for the
 DICE-RL image behavior-cloning loader. This public release contains
-**600 episodes and 219,938 retained transitions**.
-All 100 available raw recordings per task passed conversion; no episodes were
-rejected. No policy checkpoints or measured policy success rates are included.
+**596 episodes and 216,890 retained transitions**.
+Four demonstrations were removed before processing due to poor trajectory quality:
+pick_bucket demo 39 (244967) and demo 12 (974934), click_mouse demo 42 (581035),
+and hammer_nail demo 2 (403013). They were not replaced. This **2026-10-21**
+release contains 98 pick_bucket, 99 click_mouse, 99 hammer_nail, and 100 episodes
+for each other task. Every remaining raw recording passed conversion; no
+additional episodes were rejected. Per-task normalization for the three affected
+tasks was recomputed using only the clean retained episodes. No policy checkpoints or measured policy success rates are included.
 
 | Task | Episodes | Transitions | Retained episode length | Archive GiB |
 |---|---:|---:|---:|---:|
-| click_mouse | 100 | 32,702 | 192–774 | 1.03 |
+| click_mouse | 99 | 31,928 | 192–538 | 1.01 |
 | fold_glasses | 100 | 53,878 | 282–844 | 1.91 |
-| hammer_nail | 100 | 21,563 | 149–522 | 1.02 |
-| pick_bucket | 100 | 43,581 | 233–1055 | 1.81 |
+| hammer_nail | 99 | 21,041 | 149–392 | 0.99 |
+| pick_bucket | 98 | 41,829 | 233–725 | 1.73 |
 | pinch_tongs | 100 | 40,469 | 288–680 | 1.10 |
 | water_plant | 100 | 27,745 | 203–394 | 1.10 |
 
-Total archive size: **7.97 GiB**. Allow approximately
-**15.9 GiB** for cached archives plus extracted data.
+Total archive size: **7.84 GiB**. Allow approximately
+**15.7 GiB** for cached archives plus extracted data.
 
 ## Download
 
@@ -107,19 +112,27 @@ per-task statistics are in [manifest.json](manifest.json).
 Choose cameras explicitly in `train_dataset.image_keys`, for example
 `[front, wrist]`; the loader decompresses only those camera members. Keep this
 order consistent with the environment, model `num_img` and image shape.
+To keep a previous local installation, download this release to a new directory:
+
+```bash
+bash script/download_hf.sh --data-dir data_dir/dexjoco-clean-20261021
+```
+
 The older mixed single-arm/bimanual repository is a separate release and is
 unchanged by this publication.
 
 ## Verification
 
-All six tasks were freshly converted from the local raw recordings using the
-current converter defaults. Before packaging:
+The three affected tasks were freshly converted from the cleaned local raw
+recordings using the same converter defaults. Unaffected tasks reuse the prior
+verified NPZ files; all six tasks were audited again against the available raw
+recordings before packaging:
 
-- All 600 episodes' stored states and actions were compared exactly against
+- All 596 episodes' stored states and actions were compared exactly against
   fresh raw re-encoding, the recorded prefix cuts and the published normalizers.
   The encoder is shared with the converter; this is a consistency check rather
   than an independent action-encoding implementation.
-- All shared arrays in both training files, including **879,752
+- All shared arrays in both training files, including **867,560
   retained camera frames**, matched exactly. Shapes, dtypes, finite values,
   episode boundaries, normalization extrema and synthetic rewards were checked.
   No all-black camera frames were found.

archives/click_mouse-img.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:92174827689a495d9055557daef33bbd7f0acc52b8dd0d457f3c3124bee995f8
-size 1105059840
+oid sha256:9bb950d03d878e31e986c8c061801c4bd3cb9a49d6036ddd13790717412d2ef3
+size 1079582720

archives/hammer_nail-img.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:24e6462759f1a652a9c3bea2eb171e53639c0dc1417e7ea724612232ea2b7b63
-size 1091246080
+oid sha256:379026c092c814d8b5e61f0bf96cacde509e8e829caa3f7f531616c453ab8921
+size 1064765440

archives/pick_bucket-img.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:86a916dcc67e0bdfb00228b49fb978c9373bc411ded5aca87e982d9112ba5078
-size 1941135360
+oid sha256:815cc53e4b6f3566be0ecb89bdafab133403ded98bb6d5f4ccfdb4be94f0a0d1
+size 1859635200

manifest.json

@@ -11,14 +11,14 @@
   "tasks": {
     "click_mouse": {
       "archive": "archives/click_mouse-img.tar",
-      "archive_bytes": 1105059840,
-      "sha256": "92174827689a495d9055557daef33bbd7f0acc52b8dd0d457f3c3124bee995f8",
-      "n_available": 100,
-      "n_episodes": 100,
-      "n_transitions": 32702,
+      "archive_bytes": 1079582720,
+      "sha256": "9bb950d03d878e31e986c8c061801c4bd3cb9a49d6036ddd13790717412d2ef3",
+      "n_available": 99,
+      "n_episodes": 99,
+      "n_transitions": 31928,
       "min_trajectory_length": 192,
-      "max_trajectory_length": 774,
-      "trimmed_prefix_frames": 7474,
+      "max_trajectory_length": 538,
+      "trimmed_prefix_frames": 7138,
       "state_dim": 23,
       "action_dim": 22,
       "camera_names": [
@@ -31,8 +31,8 @@
         96,
         96
       ],
-      "total_camera_frames": 130808,
-      "raw_state_action_episodes_compared": 100,
+      "total_camera_frames": 127712,
+      "raw_state_action_episodes_compared": 99,
       "raw_camera_frames_compared": 36,
       "all_black_camera_frames": {
         "ego_left": 0,
@@ -40,7 +40,11 @@
         "front": 0,
         "wrist": 0
       },
-      "cpu_loader": "passed"
+      "cpu_loader": "passed",
+      "n_original_episodes": 100,
+      "excluded_episodes": [
+        "monitor_mousepad_demo_42_2026-03-12_13-00-42_581035/replay.zarr"
+      ]
     },
     "fold_glasses": {
       "archive": "archives/fold_glasses-img.tar",
@@ -73,17 +77,19 @@
         "front": 0,
         "wrist": 0
       },
-      "cpu_loader": "passed"
+      "cpu_loader": "passed",
+      "n_original_episodes": 100,
+      "excluded_episodes": []
     },
     "hammer_nail": {
       "archive": "archives/hammer_nail-img.tar",
-      "archive_bytes": 1091246080,
-      "sha256": "24e6462759f1a652a9c3bea2eb171e53639c0dc1417e7ea724612232ea2b7b63",
-      "n_available": 100,
-      "n_episodes": 100,
-      "n_transitions": 21563,
+      "archive_bytes": 1064765440,
+      "sha256": "379026c092c814d8b5e61f0bf96cacde509e8e829caa3f7f531616c453ab8921",
+      "n_available": 99,
+      "n_episodes": 99,
+      "n_transitions": 21041,
       "min_trajectory_length": 149,
-      "max_trajectory_length": 522,
+      "max_trajectory_length": 392,
       "trimmed_prefix_frames": 649,
       "state_dim": 23,
       "action_dim": 22,
@@ -97,8 +103,8 @@
         96,
         96
       ],
-      "total_camera_frames": 86252,
-      "raw_state_action_episodes_compared": 100,
+      "total_camera_frames": 84164,
+      "raw_state_action_episodes_compared": 99,
       "raw_camera_frames_compared": 36,
       "all_black_camera_frames": {
         "ego_left": 0,
@@ -106,18 +112,22 @@
         "front": 0,
         "wrist": 0
       },
-      "cpu_loader": "passed"
+      "cpu_loader": "passed",
+      "n_original_episodes": 100,
+      "excluded_episodes": [
+        "hammer_nail_demo_2_2026-02-05_19-16-49_403013/replay.zarr"
+      ]
     },
     "pick_bucket": {
       "archive": "archives/pick_bucket-img.tar",
-      "archive_bytes": 1941135360,
-      "sha256": "86a916dcc67e0bdfb00228b49fb978c9373bc411ded5aca87e982d9112ba5078",
-      "n_available": 100,
-      "n_episodes": 100,
-      "n_transitions": 43581,
+      "archive_bytes": 1859635200,
+      "sha256": "815cc53e4b6f3566be0ecb89bdafab133403ded98bb6d5f4ccfdb4be94f0a0d1",
+      "n_available": 98,
+      "n_episodes": 98,
+      "n_transitions": 41829,
       "min_trajectory_length": 233,
-      "max_trajectory_length": 1055,
-      "trimmed_prefix_frames": 3307,
+      "max_trajectory_length": 725,
+      "trimmed_prefix_frames": 3238,
       "state_dim": 23,
       "action_dim": 22,
       "camera_names": [
@@ -130,8 +140,8 @@
         96,
         96
       ],
-      "total_camera_frames": 174324,
-      "raw_state_action_episodes_compared": 100,
+      "total_camera_frames": 167316,
+      "raw_state_action_episodes_compared": 98,
       "raw_camera_frames_compared": 36,
       "all_black_camera_frames": {
         "ego_left": 0,
@@ -139,7 +149,12 @@
         "front": 0,
         "wrist": 0
       },
-      "cpu_loader": "passed"
+      "cpu_loader": "passed",
+      "n_original_episodes": 100,
+      "excluded_episodes": [
+        "bucket_pick_demo_12_2026-03-11_21-14-27_974934/replay.zarr",
+        "bucket_pick_demo_39_2026-03-11_21-29-59_244967/replay.zarr"
+      ]
     },
     "pinch_tongs": {
       "archive": "archives/pinch_tongs-img.tar",
@@ -172,7 +187,9 @@
         "front": 0,
         "wrist": 0
       },
-      "cpu_loader": "passed"
+      "cpu_loader": "passed",
+      "n_original_episodes": 100,
+      "excluded_episodes": []
     },
     "water_plant": {
       "archive": "archives/water_plant-img.tar",
@@ -205,10 +222,31 @@
         "front": 0,
         "wrist": 0
       },
-      "cpu_loader": "passed"
+      "cpu_loader": "passed",
+      "n_original_episodes": 100,
+      "excluded_episodes": []
+    }
+  },
+  "release_date": "2026-10-21",
+  "quality_filter": {
+    "reason": "poor trajectory quality",
+    "n_removed": 4,
+    "replacement_episodes_added": false,
+    "previous_revision": "1d13c18f115aa91fc4d929d1b7a53a7e71001a28",
+    "removed_episodes": {
+      "click_mouse": [
+        "monitor_mousepad_demo_42_2026-03-12_13-00-42_581035/replay.zarr"
+      ],
+      "hammer_nail": [
+        "hammer_nail_demo_2_2026-02-05_19-16-49_403013/replay.zarr"
+      ],
+      "pick_bucket": [
+        "bucket_pick_demo_12_2026-03-11_21-14-27_974934/replay.zarr",
+        "bucket_pick_demo_39_2026-03-11_21-29-59_244967/replay.zarr"
+      ]
     }
   },
-  "n_episodes": 600,
-  "n_transitions": 219938,
-  "archive_bytes": 8552376320
+  "n_episodes": 596,
+  "n_transitions": 216890,
+  "archive_bytes": 8418918400
 }