| { | |
| "dataset": "React", | |
| "format": "video (LeRobot-style: per-camera MP4 + per-episode parquet)", | |
| "resolution": "640x480", | |
| "fps": 30, | |
| "video_streams": [ | |
| "view_left", | |
| "view_middle", | |
| "view_right", | |
| "tactile_left", | |
| "tactile_right" | |
| ], | |
| "parquet_columns": [ | |
| "frame_idx", | |
| "timestamp", | |
| "sensor_left_pose", | |
| "sensor_right_pose", | |
| "tactile_{L,R}_{intensity,area,mixed}", | |
| "source_h5_frame" | |
| ], | |
| "decoded_color": "RGB (standard video-decoder convention)", | |
| "tasks": { | |
| "motherboard": { | |
| "n_episodes": 32, | |
| "dates": [ | |
| "2026-05-10", | |
| "2026-05-11", | |
| "2026-05-19" | |
| ], | |
| "n_frames": 194445, | |
| "duration_min": 108.0, | |
| "n_segments": 76, | |
| "clean_min": 107.04, | |
| "bad_fraction": 0.009, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ], | |
| "calibration_id": "may-12", | |
| "calibration_created": "2026-05-12", | |
| "calibration_rmse_unit": "mm", | |
| "world_frame_offset_dates": { | |
| "2026-05-19": [ | |
| 0.23, | |
| 0.0, | |
| 0.175 | |
| ] | |
| }, | |
| "gelsight_left_serial": "2BGLKZNT/2DUPB53G", | |
| "note": "Bimanual handheld tactile-visual interaction. 05-19 has a redefined OptiTrack world origin; an offset (0.23,0,0.175)m is baked into its poses so all dates share one frame." | |
| }, | |
| "pushT": { | |
| "n_episodes": 4, | |
| "dates": [ | |
| "2026-06-18" | |
| ], | |
| "n_frames": 45595, | |
| "duration_min": 25.3, | |
| "n_segments": 17, | |
| "clean_min": 25.16, | |
| "bad_fraction": 0.0067, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ], | |
| "calibration_id": "june-26", | |
| "calibration_created": "2026-06-26", | |
| "calibration_rmse_unit": "px", | |
| "world_frame_offset_dates": {}, | |
| "gelsight_left_serial": "2DUPB53G", | |
| "note": "Push-T manipulation. Recalibrated cameras (June-26). One source H5 (episode_004) was corrupt and excluded." | |
| } | |
| } | |
| } |