validated_at string | episode_count int64 | frame_count int64 | video_count int64 | parquet_count int64 | video_contract dict | parquet_contract dict | status string |
|---|---|---|---|---|---|---|---|
2026-08-12T10:52:46.820046+00:00 | 62 | 50,584 | 186 | 62 | {
"ego_view": {
"codec": "h264",
"pix_fmt": "yuv420p",
"fps": 50,
"width": 424,
"height": 240
},
"left_wrist_view": {
"codec": "h264",
"pix_fmt": "yuv420p",
"fps": 50,
"width": 480,
"height": 640
},
"right_wrist_view": {
"codec": "h264",
"pix_fmt": "yuv420p",
... | {
"list_layout": "variable list<float32>",
"observation.state": 63,
"action": 30,
"observation.tactile": 34,
"all_finite": true,
"tactile_exact_zero": true,
"continuous_indices": true,
"action25_runtime_formula_verified_against_source": true
} | valid |
Successful G1 Piston Long-Horizon Replays (3 cameras)
This is a validated LeRobot v2.1 dataset containing only episodes that passed all seven semantic stages: lift, regrasp, tube alignment, tube press, plate alignment, plate press, and stable finish.
- Episodes: 62
- Frames: 50584
- FPS: 50
- Task:
pick up the piston with the right hand, press/inject it into the tube held by the left hand, then move it over the hole plate and press the piston button again. - Original-source episodes: 50
- Recovery-source episodes: 12
Modalities
observation.state: 63 float32 values (arms/hands 26 + waist 3 + tactile 34)action: 30 float32 valuesobservation.tactile: the same 34 zero-filled tactile values as state[29:63]observation.images.ego_view: 424x240 H.264/yuv420p at 50 FPSobservation.images.left_wrist_view: 480x640 H.264/yuv420p at 50 FPSobservation.images.right_wrist_view: 480x640 H.264/yuv420p at 50 FPS
The wrist files intentionally use the approved portrait correction. The source
left_wrist_rotated_h264.mp4 and right_wrist_rotated_h264.mp4 already have
transpose=cclock baked in; this builder stream-copies them and does not
rotate them again. Their HWC feature shape is [640, 480, 3].
Alignment and action provenance
Each parquet row i is aligned with video frame i; every output video is
stream-copied and strictly truncated to the parquet episode length. Episode,
frame, global, and task indices are rebuilt contiguously from zero.
For original replays only, action[25] (right thumb yaw) receives the exact
runtime press-conditioned correction
-0.2 * clip((1.3 - source_yaw) / 1.05, 0, 1) so the stored
command matches the command used during replay while the open pose remains
unchanged. Recovery inputs already have the recovery corrections baked into
their NPZ/action stream and receive no additional delta. State values remain
the measured replay state and are never shifted.
Success contract and auditability
Only overall_success=True rows with all seven stage_* values true and no
failed stages are included. If a passing recovery artifact set exists, it takes
priority over the original. See meta/semantic_contract.json for the contract,
meta/provenance.json for the per-episode source mapping and transforms, and
meta/validation_report.json for the final machine checks.
The builder refuses to overwrite an existing output and publishes by atomic directory rename only after all parquet/video/metadata checks pass.
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