Add files using upload-large-folder tool

BUILD_COMPLETE.json

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+{
+  "status": "complete_and_valid",
+  "build_version": "success-piston-lerobot-v2.1-20260812.1",
+  "completed_at": "2026-08-12T10:52:46.821986+00:00",
+  "episodes": 62,
+  "frames": 50584,
+  "validation_report": "meta/validation_report.json",
+  "validation_report_sha256": "0dbcfef82582c34e3975d43b3db032f92a2a7e660d44c11f2ed0f227745f91b3"
+}

README.md

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+---
+license: other
+task_categories:
+- robotics
+tags:
+- lerobot
+- unitree-g1
+- isaac-sim
+- manipulation
+---
+
+# 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 values
+- `observation.tactile`: the same 34 zero-filled tactile values as state[29:63]
+- `observation.images.ego_view`: 424x240 H.264/yuv420p at 50 FPS
+- `observation.images.left_wrist_view`: 480x640 H.264/yuv420p at 50 FPS
+- `observation.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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meta/info.json

@@ -0,0 +1,323 @@
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+    "recovery_root": "/root/autodl-tmp/outputs/trajectory_csv_piston_drop_3cam_recovery_20260812",
+    "combined_stage_results": "/root/autodl-tmp/outputs/trajectory_csv_piston_drop_3cam_recovery_20260812/semantic_audit/combined_final_stage_results.csv",
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+    "selection_policy": "all-stage successes only; prefer complete passing recovery artifacts",
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+      "recovery_reason": "recovery NPZ/action corrections already baked"
+    }
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+    "contract_version": "piston-longhorizon-seven-stage-v1",
+    "all_stages_required": true,
+    "required_stage_columns": [
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+      "stage_align_tube",
+      "stage_press_tube",
+      "stage_align_plate",
+      "stage_press_plate",
+      "stage_finish_stable"
+    ]
+  }
+}

meta/modality.json

@@ -0,0 +1,66 @@
+{
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+      "original_key": "observation.images.left_wrist_view"
+    },
+    "right_wrist_view": {
+      "original_key": "observation.images.right_wrist_view"
+    }
+  },
+  "annotation": {
+    "human.task_description": {
+      "original_key": "annotation.human.task_description"
+    }
+  }
+}

meta/semantic_contract.json

@@ -0,0 +1,99 @@
+{
+  "contract_version": "piston-longhorizon-seven-stage-v1",
+  "selection_expression": "overall_success == True AND every required stage == True AND failed_stage_count == 0 AND failed_stages is empty",
+  "all_stages_required": true,
+  "required_stage_columns": [
+    "stage_lift",
+    "stage_regrasp",
+    "stage_align_tube",
+    "stage_press_tube",
+    "stage_align_plate",
+    "stage_press_plate",
+    "stage_finish_stable"
+  ],
+  "required_semantics": {
+    "stage_lift": "piston lift succeeds",
+    "stage_regrasp": "release/drop and regrasp succeeds",
+    "stage_align_tube": "piston aligns with the left-hand tube",
+    "stage_press_tube": "first button press/compression succeeds",
+    "stage_align_plate": "piston aligns over the hole plate",
+    "stage_press_plate": "second button press/compression succeeds",
+    "stage_finish_stable": "task ends in a stable valid state"
+  },
+  "combined_stage_results": "/root/autodl-tmp/outputs/trajectory_csv_piston_drop_3cam_recovery_20260812/semantic_audit/combined_final_stage_results.csv",
+  "combined_stage_results_sha256": "b4404a1a685e171a148ee12eee843089ccf944e280505850f181d362fa081258",
+  "threshold_contract": {
+    "path": "/root/autodl-tmp/outputs/trajectory_csv_piston_drop_3cam_recovery_20260812/semantic_audit/thresholds.json",
+    "sha256": "5e402d9ce43976e8d397b13bee0f30a1921cfd007c208c05262f984626c75d61",
+    "content": {
+      "contract_version": "piston-stage-success-v1",
+      "thresholds": {
+        "lift": {
+          "lift_height_m_min": 0.08,
+          "lift_contact_frames_min": 20,
+          "lift_opposed_frames_min": 10
+        },
+        "regrasp": {
+          "recontact_delay_frames_min": 0,
+          "recontact_delay_frames_max": 5,
+          "regrasp_contact_frames_min": 20,
+          "regrasp_opposed_frames_min": 5,
+          "regrasp_min_z_m_min": 0.9,
+          "regrasp_tracking_p95_m_max": 0.08
+        },
+        "align_tube": {
+          "press1_tracking_p95_m_max": 0.08,
+          "press1_tube_xy_p95_m_max": 0.06
+        },
+        "press_tube": {
+          "press1_contact_frames_min": 5,
+          "press1_opposed_frames_min": 5,
+          "press1_thumb_rod_peak_n_min": 0.5,
+          "press1_thumb_rod_frames_min": 5,
+          "press1_stroke_m_min": 0.001
+        },
+        "align_plate": {
+          "press2_tracking_p95_m_max": 0.08,
+          "press2_plate_xy_p95_m_max": 0.05
+        },
+        "press_plate": {
+          "press2_contact_frames_min": 5,
+          "press2_opposed_frames_min": 5,
+          "press2_thumb_rod_peak_n_min": 0.5,
+          "press2_thumb_rod_frames_min": 5,
+          "press2_stroke_m_min": 0.001
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+        "finish_stable": {
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+          "final_contact_frames_min": 20,
+          "final_tracking_p95_m_max": 0.08
+        }
+      },
+      "stage_notes": {
+        "lift": "Tool rises at least 80 mm while opposed hand contact remains present.",
+        "regrasp": "Intentional drop is reacquired promptly; tool remains above table and follows the authored path.",
+        "align_tube": "Actual tool follows the authored first-target pose and is within 60 mm XY of the source Tube pose.",
+        "press_tube": "Thumb physically contacts Rod/button and produces at least 1 mm PistonJoint compression.",
+        "align_plate": "Actual tool follows the authored second-target pose and is within 50 mm XY of dish center (0.15, 0.30).",
+        "press_plate": "Thumb physically contacts Rod/button and produces at least 1 mm PistonJoint compression.",
+        "finish_stable": "Tool remains held above the table and near the authored final trajectory."
+      }
+    }
+  },
+  "selection_summary": {
+    "csv_rows": 76,
+    "passing_episode_count": 62,
+    "original_selected": 50,
+    "recovery_selected": 12,
+    "episode_column": "episode",
+    "required_stages": [
+      "stage_lift",
+      "stage_regrasp",
+      "stage_align_tube",
+      "stage_press_tube",
+      "stage_align_plate",
+      "stage_press_plate",
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+  }
+}

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meta/tasks.jsonl

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+{"task_index": 0, "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."}

meta/validation_report.json

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+}

videos/chunk-000/observation.images.left_wrist_view/episode_000018.mp4

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