Show individual trajectories in the Dataset Viewer

README.md

@@ -14,14 +14,64 @@ tags:
 pretty_name: LIBERO-Pro2.0 Native HDF5 Training Data
 size_categories:
 - 10K<n<100K
+configs:
+- config_name: episodes
+  default: true
+  data_files:
+  - split: train
+    path: viewer/episodes/*/*.parquet
+- config_name: libero_10
+  data_files:
+  - split: train
+    path: viewer/episodes/libero_10/*.parquet
+- config_name: libero_goal
+  data_files:
+  - split: train
+    path: viewer/episodes/libero_goal/*.parquet
+- config_name: libero_object
+  data_files:
+  - split: train
+    path: viewer/episodes/libero_object/*.parquet
+- config_name: libero_spatial
+  data_files:
+  - split: train
+    path: viewer/episodes/libero_spatial/*.parquet
+- config_name: review_videos
+  data_files:
+  - split: train
+    path: viewer/review_videos/*.parquet
 ---
 
 # LIBERO-Pro2.0 — Native HDF5 Training Data
 
-**Release status: COMPLETE (v1.0.1).** All 1,349 instances have been uploaded; remote file sizes and content hashes match the prepared release. All 6,745 review videos now use browser-compatible H.264. See `release.json` and `manifests/`.
+**Release status: COMPLETE (v1.0.2).** All 1,349 instances have been uploaded; remote file sizes and content hashes match the prepared release. All 6,745 review videos now use browser-compatible H.264. See `release.json` and `manifests/`.
 
 This repository distributes the native HDF5 training demonstrations for LIBERO-Pro2.0, with per-instance metadata, trajectory source indexes, and review videos. This is the HDF5 release, not an RLDS or LeRobot conversion. No simulator assets, model weights, or evaluation rollouts are bundled here.
 
+## Browse individual trajectories
+
+The Dataset Viewer now explicitly reads `viewer/` Parquet tables. It does not interpret audit reports or metadata JSON as training examples.
+
+- **episodes** (default): 40,470 rows, one row per stored HDF5 demonstration. Each row shows the initial scene-camera image, initial wrist-camera image, original language instruction, suite, task, variation, step count, success label, and exact HDF5 file/group.
+- **libero_10 / libero_goal / libero_object / libero_spatial**: the same episode records filtered by suite, without duplicating the Parquet files.
+- **review_videos**: 6,745 playable review clips, one row per clip. These are five successful examples per instance, not videos for all 40,470 stored demonstrations. The video table identifies the instance; it does not assert an unverified clip-to-demo mapping.
+
+All tables use the **train** split. There is no held-out validation split in this release. The previous automatically detected one-row `validation` table was a release-check report, not evaluation data.
+
+The two image columns are lossless PNG encodings of frame 0 directly from each episode's HDF5 observations, with no rotation, resizing, or pixel changes. `instruction` comes from that episode's `source_metadata`. Full temporal observations and actions remain in HDF5; the Viewer is a browsing index, not a frame-level LeRobot dataset. The original fanout provenance is retained: `keep_without_declared_fanout` is true for 37,396 rows, and `fanout_copy_index` identifies declared replicated trajectories.
+
+```python
+from datasets import load_dataset
+
+# Stream the lightweight episode browsing index, not the full HDF5 payload.
+episodes = load_dataset("zhouxueyang/LIBERO-Pro2.0", "episodes", split="train", streaming=True)
+row = next(iter(episodes))
+print(row["instruction"], row["num_steps"], row["hdf5_path"], row["hdf5_group"])
+row["agentview_image"].save("example.png")
+```
+
+Viewer generation and validation details are in `manifests/viewer_validation.json`. Existing payload checksums still apply to the unchanged `data/` files; the additional Parquet files have their own checksums in `manifests/viewer_files.jsonl`.
+
 ## Dataset scope
 
 | Suite | Base task IDs included | Instances | Stored demonstrations |
@@ -102,7 +152,7 @@ HF_ENDPOINT=https://huggingface.co hf download zhouxueyang/LIBERO-Pro2.0 \
 python ./LIBERO-Pro2.0/scripts/inspect_episode.py \
   ./LIBERO-Pro2.0/data/libero_spatial/task_1/BASE/episodes.hdf5
 
-# Full dataset download (requires approximately 219 GiB plus cache/headroom).
+# Full dataset download (requires approximately 220 GiB plus cache/headroom).
 HF_ENDPOINT=https://huggingface.co hf download zhouxueyang/LIBERO-Pro2.0 \
   --repo-type dataset --local-dir ./LIBERO-Pro2.0
 
@@ -111,7 +161,7 @@ cd LIBERO-Pro2.0
 sha256sum -c manifests/SHA256SUMS
 ```
 
-Raw HDF5 is intended for local training loaders. This release does not advertise automatic Hugging Face Dataset Viewer, RLDS, or LeRobot compatibility. Those would require separately validated conversions.
+Raw HDF5 is intended for local training loaders. The Dataset Viewer provides an episode-level browsing index with first-frame camera previews and pointers into these HDF5 files; it does not contain the full observation/action sequences. RLDS and LeRobot conversions are not included.
 
 ## Validation and limitations
 

manifests/viewer_files.jsonl

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manifests/viewer_validation.json

@@ -0,0 +1,25 @@
+{
+  "status": "remote_files_verified",
+  "episode_rows": 40470,
+  "review_video_rows": 6745,
+  "total_steps": 8258504,
+  "keep_without_declared_fanout_rows": 37396,
+  "parquet_files": 48,
+  "parquet_bytes": 1309679423,
+  "source_data_revision": "bda44a019397b92c1ddade147f8312853bc58a6e",
+  "validation": [
+    "Every episode maps to a unique HDF5 file/group",
+    "Every step count checked against HDF5 actions",
+    "Both first-frame previews PNG-roundtrip pixel-equal to HDF5",
+    "Parquet rows roundtrip equality",
+    "Every instruction read directly from episode source metadata",
+    "No asserted review-video-to-demo mapping",
+    "All six README configurations load with datasets.load_dataset and decode previews correctly"
+  ],
+  "suite_rows": {
+    "libero_10": 10320,
+    "libero_goal": 9690,
+    "libero_object": 10320,
+    "libero_spatial": 10140
+  }
+}

release.json

@@ -1,11 +1,14 @@
 {
   "status": "complete",
   "format": "native-hdf5",
-  "version": "1.0.1",
+  "version": "1.0.2",
   "expected_instances": 1349,
   "expected_payload_files": 10792,
   "expected_payload_bytes": 234281567307,
   "remote_payload_hashes_verified": true,
-  "change": "Re-encode review videos as H.264/yuv420p with faststart for browser compatibility; HDF5 and original metadata unchanged.",
-  "completed_at_utc": "2026-10-14T02:21:54Z"
+  "change": "Add explicit Dataset Viewer episode and review-video tables; all data/ payload files unchanged from v1.0.1.",
+  "viewer_episode_rows": 40470,
+  "viewer_review_video_rows": 6745,
+  "completed_at_utc": "2026-10-14T03:07:08Z",
+  "remote_viewer_file_hashes_verified": true
 }

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