yudanzi/piper_task_v5_clean_sg

Piper Task v5 — lerobot-cleaner + per-episode SG

Derived from DCC1015/piper_task_v4 using Escapist-coder/lerobot_cleaner plus a per-episode SciPy Savitzky–Golay rule inserted before final reindexing and statistics.

Processing

• R1 timestamp/alignment validation;
• R2 leading/trailing static-frame trim (trim_edges, threshold 0.002);
• R3 binarization of state.gripper only at threshold 50.0;
• R4 enabled with no ROI configured (no spatial crop);
• R5 minimum episode length 30;
• R6 NaN/Inf validation and percentile outlier reporting without clipping;
• R7 full video decode and cross-view frame-count validation;
• per-episode SG on joint Action dimensions [0:6] with window 11, polynomial order 3 and mode=interp;
• R8 reindexing and recomputation of global/per-episode normalization statistics.

action[6] (gripper.pos) is copied RAW from the surviving source rows. SG never sees discrete columns and never crosses episode boundaries.

Result

Metric	Source	Cleaned
Episodes	100	100
Frames	47,731	40,810
Trimmed frames	—	6,921
Synchronized videos verified	—	200

The dataset contains meta/stats.json for GR00T and meta/episodes_stats.jsonl for upstream LeRobot/openpi-style loaders. Full processing and validation details are under cleaning_report/.