| { |
| "dataset": "React", |
| "format": "video (LeRobot-style: per-camera MP4 + per-episode parquet; depth as FFV1 16-bit MKV)", |
| "resolution": "640x480", |
| "fps": 30, |
| "video_streams": [ |
| "view_left", |
| "view_middle", |
| "view_right", |
| "tactile_left", |
| "tactile_right" |
| ], |
| "depth_streams": [ |
| "depth_left", |
| "depth_middle", |
| "depth_right" |
| ], |
| "parquet_columns": [ |
| "frame_idx", |
| "timestamp", |
| "sensor_left_pose", |
| "sensor_right_pose", |
| "object_pose", |
| "tactile_{L,R}_{intensity,area,mixed}", |
| "source_h5_frame" |
| ], |
| "decoded_color": "RGB", |
| "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", |
| "object_tracked_episodes": 32, |
| "depth_available_episodes": 32, |
| "depth_units": "mm", |
| "depth_invalid_value": 0, |
| "gelsight_left_serial": "2BGLKZNT/2DUPB53G", |
| "note": "Bimanual handheld tactile-visual interaction. Object pose (the board) tracked. 05-19 has a redefined OptiTrack world origin; offset (0.23,0,0.175)m baked into poses." |
| }, |
| "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", |
| "object_tracked_episodes": 0, |
| "depth_available_episodes": 4, |
| "depth_units": "mm", |
| "depth_invalid_value": 0, |
| "gelsight_left_serial": "2DUPB53G", |
| "note": "Push-T manipulation. Recalibrated cameras (June-26). Object rigid body was not tracked (object_pose = NaN). episode_004 source H5 corrupt, excluded." |
| } |
| }, |
| "download": { |
| "core_size_gb": 4.4, |
| "depth_size_gb": 33, |
| "total_size_gb": 37.4, |
| "depth_optional": true, |
| "depth_note": "Depth lives in data/<task>/depth/ as a separate subtree. Skip it with snapshot_download(ignore_patterns=[\"*/depth/*\"]) or examples/download.py --no-depth. The ReactVideoDataset loader ignores depth unless load_depth=True.", |
| "helpers": { |
| "core_only": "python examples/download.py --no-depth", |
| "with_depth": "python examples/download.py", |
| "middle_depth_only": "python examples/download.py --depth-cams middle" |
| } |
| }, |
| "tactile_latency": { |
| "frames_estimate": 15, |
| "fps": 30, |
| "seconds_estimate": 0.5, |
| "applies_to": "all recordings up to and including 2026-06-18", |
| "fixed_in_rig": "2026-06-27", |
| "cause": "recording-side cv2.VideoCapture V4L2 buffer never flushed (throttled reads + no BUFFERSIZE=1 + default pixfmt)", |
| "compensation": "ReactVideoDataset(tactile_latency=15) pairs view[i] with tactile[i+15]; shifts tactile videos + contact scalars only", |
| "note": "Recordings up to 2026-06-18 had a ~15-frame GelSight buffer lag; it has been baked out of the published tactile videos + contact scalars. No loader compensation needed. Rig fixed 2026-06-27.", |
| "status": "CORRECTED_IN_DATA", |
| "frames_shifted": 15, |
| "method": "tactile streams shifted +15 frames (rebuilt from raw H5) so tactile[i] aligns with view[i]/pose[i]" |
| } |
| } |
