egoSample/faberu: gzip core data (1.75 MB -> 0.17 MB) fetched in parallel; preload three.js

.gitattributes

@@ -229,3 +229,4 @@ egoSample/media/restock_20260916_ep000/head_left_fisheye.mp4 filter=lfs diff=lfs
 egoSample/media/restock_20260916_ep000/head_right_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
 egoSample/media/restock_20260916_ep000/head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
 egoSample/media/restock_20260916_ep000/head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+egoSample/epdata/restock_20260916_ep000.core filter=lfs diff=lfs merge=lfs -text

egoSample/epdata/restock_20260916_ep000.core

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d6cea9dd6c2cf690b06ece623d90d9bc4948a66bc8426e9517232d162c55e4
+size 170382

egoSample/faberu.html

@@ -77,6 +77,7 @@ header h1{margin:0 0 3px;font-size:19px}
 </head>
 <body>
 <div class="main" id="main"></div>
+<link rel="modulepreload" href="https://cdn.jsdelivr.net/npm/three@0.160.0/build/three.module.js"><link rel="modulepreload" href="https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/controls/OrbitControls.js">
 <script id="D" type="application/json">{"eps": [{"slug": "restock_20260916_ep000", "dataset_dir": "faberu_restock_20260916_ep000", "task": "restock_20260916", "leaf": "Restocking a retail shelf", "leaf_instr": "Fetch a bottle from the table and restock the shelf", "mode": "VR teleoperation, mobile manipulation", "perspective": "Robot egocentric", "planned": true, "rationale": "We can collect data from robots deployed in real-world working scenes. This episode is included in Ego Sample to showcase that sensor capability: a deployed robot captures rich, synchronized multi-sensor data (stereo, fisheye and color cameras, metric depth, dual lidar, IMU, odometry, joint and teleop streams). Robot-egocentric capture is a planned data line.", "ep": 0, "task_name": "Retail shelf restocking (mobile manipulation)", "instruction": "Drive from the shelf to the table, pick up the bottle with the right gripper, carry it back and place it on the shelf", "duration": 80.4, "nframes": 2412, "fps": 30, "hw": "Faber U", "vendor": "FF", "region": "US", "tags": ["US"], "taxo": {"environment_l1": "Retail and Consumer Goods", "environment_l2": "Grocery Store", "environment_l3": "Shelf Aisle", "naics_primary_code": "445110", "naics_primary_title": "Supermarkets and Other Grocery Retailers", "taxonomy_source": "OpenAI Robotics Data Requirements 08-21-2026 (Environment/Skill Group/Jobs taxonomies)", "collection_setup": "staged retail shelf in a lab space", "skill_group": "Inventory & Stock Management", "job_family": "Stock clerk", "task_difficulty": "Medium"}, "n_segments": 22, "skills": {"Navigate": 7, "Wait": 3, "Rotate": 3, "Open": 2, "Retract": 2, "Close": 1, "Pick": 1, "Lift": 1, "Reach": 1, "Place": 1}, "skill_list": ["Close", "Lift", "Navigate", "Open", "Pick", "Place", "Reach", "Retract", "Rotate", "Wait"], "qc": {"status": "pass", "total": 10, "passed": 8, "warnings": 2, "failures": 0}, "state_dim": 27, "action_dim": 19, "depth_valid": 0.847, "lidar_scans": [810, 810], "segments": [{"skill": "Wait", "label": "The robot stands in front of the retail shelf while the teleoperator gets ready", "ts": 0.0, "te": 13.0, "mistake": false}, {"skill": "Close", "label": "The right gripper closes to its travel position", "ts": 13.0, "te": 14.25, "mistake": false}, {"skill": "Navigate", "label": "The robot backs away from the shelf", "ts": 14.25, "te": 16.75, "mistake": false}, {"skill": "Rotate", "label": "The robot turns about 95 degrees right to face the work table", "ts": 16.75, "te": 20.0, "mistake": false}, {"skill": "Wait", "label": "The robot pauses facing the table", "ts": 20.0, "te": 21.25, "mistake": false}, {"skill": "Navigate", "label": "The robot drives forward toward the table", "ts": 21.25, "te": 23.25, "mistake": false}, {"skill": "Rotate", "label": "The robot corrects its heading toward the table", "ts": 23.25, "te": 25.25, "mistake": false}, {"skill": "Navigate", "label": "The robot drives up to the table edge and stops", "ts": 25.25, "te": 32.0, "mistake": false}, {"skill": "Open", "label": "The right gripper opens in front of the bottle on the table", "ts": 32.0, "te": 34.0, "mistake": false}, {"skill": "Pick", "label": "The right arm reaches the bottle on the table and the gripper closes on it", "ts": 34.0, "te": 40.25, "mistake": false}, {"skill": "Lift", "label": "The right arm lifts the bottle and retracts it close to the body", "ts": 40.25, "te": 44.25, "mistake": false}, {"skill": "Navigate", "label": "The robot drives back toward the shelf while holding the bottle", "ts": 44.25, "te": 48.5, "mistake": false}, {"skill": "Rotate", "label": "The robot turns about 95 degrees left to face the shelf", "ts": 48.5, "te": 52.0, "mistake": false}, {"skill": "Navigate", "label": "The robot aligns itself with the shelf", "ts": 52.0, "te": 54.75, "mistake": false}, {"skill": "Reach", "label": "The right arm raises the bottle toward the middle shelf", "ts": 54.75, "te": 61.0, "mistake": false}, {"skill": "Navigate", "label": "The robot repositions sideways along the shelf to reach a free slot", "ts": 61.0, "te": 65.75, "mistake": false}, {"skill": "Place", "label": "The right arm moves the bottle onto the middle shelf", "ts": 65.75, "te": 70.25, "mistake": false}, {"skill": "Open", "label": "The right gripper opens to release the bottle on the shelf", "ts": 70.25, "te": 71.5, "mistake": false}, {"skill": "Retract", "label": "The right arm withdraws from the shelf", "ts": 71.5, "te": 74.0, "mistake": false}, {"skill": "Navigate", "label": "The robot backs away from the shelf and straightens up", "ts": 74.0, "te": 76.75, "mistake": false}, {"skill": "Retract", "label": "Both arms return to the home pose", "ts": 76.75, "te": 78.5, "mistake": false}, {"skill": "Wait", "label": "The robot stops; episode ends", "ts": 78.5, "te": 80.4, "mistake": false}]}], "skc": {"Clip": "#4f83cc", "Close": "#e0913a", "CloseBox": "#5aa469", "Cut": "#c0504d", "Dip": "#8064a2", "Drop": "#4bacc6", "Flip": "#d98594", "Fold": "#9b8f2e", "HandOver": "#7f8fa6", "Hang": "#674ea7", "Insert": "#3d9970", "Knead": "#b8860b", "Open": "#a0522d", "Paint": "#2e8b8b", "Pick": "#b5651d", "Place": "#6a5acd", "Plug": "#556b2f", "Pour": "#8b3a62", "Press": "#487eb0", "PressButton": "#cc8e35", "Pull": "#6b8e23", "Rinse": "#9370db", "Rotate": "#20b2aa", "Scan": "#cd853f", "Scoop": "#4f83cc", "Screw (tighten)": "#e0913a", "Smear": "#5aa469", "Stack": "#c0504d", "Stir": "#8064a2", "Straighten": "#4bacc6", "Takedown": "#d98594", "Takeout (remove)": "#9b8f2e", "Tear": "#7f8fa6", "Wipe": "#674ea7", "dip": "#3d9970", "plug": "#b8860b", "Wait": "#5d6574", "Navigate": "#3fa7d6", "Lift": "#e07a5f", "Reach": "#81b29a", "Retract": "#b388eb"}, "hf": "https://huggingface.co/datasets/faradayfuture/egoSample"}</script>
 <script>
 const D=JSON.parse(document.getElementById('D').textContent);
@@ -94,7 +95,12 @@ function loadSig(slug){ window.EPDATA=window.EPDATA||{}; const packP=loadPack(sl
   const done=()=>{ SIG=window.EPDATA[slug]; if(!SIG) return; sizeCharts(); drawCharts(); init3D(); packP.then(pk=>{ if(!pk) return; Object.assign(SIG,pk); if(window._addClouds) window._addClouds(); }); updateUI(master.currentTime||0);
     const go=()=>{ if(_toggle&&!playing) _toggle(); }; if(master.readyState>=3) go(); else master.addEventListener('canplay',go,{once:true}); };
   if(window.EPDATA[slug]){ done(); return; }
-  const s=document.createElement('script'); s.fetchPriority='high'; s.src='epdata/'+slug+'.js'; s.onload=done; document.body.appendChild(s); }
+  gunzipFetch('epdata/'+slug+'.core').then(b=>{ window.EPDATA[slug]=JSON.parse(new TextDecoder().decode(b)); done(); })
+    .catch(()=>{ const s=document.createElement('script'); s.src='epdata/'+slug+'.js'; s.onload=done; document.body.appendChild(s); }); }
+async function gunzipFetch(url){ const r=await fetch(url,{priority:'high'}); if(!r.ok) throw new Error('HTTP '+r.status);
+  let b=new Uint8Array(await r.arrayBuffer());
+  if(b[0]===0x1f&&b[1]===0x8b) b=new Uint8Array(await new Response(new Blob([b]).stream().pipeThrough(new DecompressionStream('gzip'))).arrayBuffer());
+  return b; }
 
 /* heavy viewer payload (lidar snapshots + depth-hover grid): gzip'd binary, fetched after the page is interactive */
 async function loadPack(name){ const sig={};