中文 / English
机器人执行数据
本次提供 OpenPI π0.5 与 FLUX 各 1 条 Flexiv 双臂衣物折叠执行记录，采用 LeRobot v3 格式。两套数据均保留左右两路 ego 相机（960×960、30 Hz）、逐帧状态与动作、双侧 IMU、相机标定和机器人侧 H5 记录。音频与 rear 相机不包含在 rollout 交付中。
| 模型 | 目录 | Episode | 帧数 | 时长 |
|---|---|---|---|---|
| OpenPI π0.5 | openpi_pi05/ |
1 | 6,540 | 218 秒 |
| FLUX | flux/ |
1 | 30,619 | 1,020.633 秒（约 17 分钟） |
两条 rollout 合计 37,159 帧、约 20 分 38.6 秒。本模型仓库提供执行样例；人工演示数据不包含在此目录中。
文件与读取方式
以下路径相对于各模型目录。请分别将 openpi_pi05/ 和 flux/ 作为独立的 LeRobot 数据集根目录读取；两套数据各自从 episode 0 开始，不能直接拼接其索引文件。
| 路径 | 内容 |
|---|---|
data/chunk-000/file-000.parquet |
逐帧状态、动作、关节信息与时间戳 |
videos/observation.images.left_ego/ |
左侧 ego 视频 |
videos/observation.images.right_ego/ |
右侧 ego 视频 |
meta/info.json、meta/stats.json |
交付版本的特征定义与统计 |
meta/episodes/、meta/tasks.parquet |
Episode 索引、视频引用与任务 |
meta/calibration.json |
保留相机的内参与数值外参 |
imu/ |
左右侧 IMU，保留原始采样频率 |
robot/episode_0000.h5 |
视频对齐前的机器人采样与控制记录 |
insta360_export.json |
导出配置、同步信息及源转换检查记录 |
checksums.sha256 |
本目录交付文件的 SHA-256 校验值 |
状态与动作均为 16 维，左手在前、右手在后，每手顺序为 [x, y, z, qw, qx, qy, qz, gripper]。位置单位为米，四元数采用 wxyz，夹爪单位为度。导出配置为 action_mode=next_state，action[t] 对应下一帧状态（末帧除外），不是原始模型动作块；控制器侧记录另见 H5。H5 采样范围与 LeRobot 对齐后的帧数不同，需结合各侧同步参数读取，不能按行号直接拼接。两套数据的主机时钟原点不统一，请使用各自的同步信息。
meta/info.json 中 data_files_size_in_mb 和 video_files_size_in_mb 是 LeRobot 分片配置，并非交付目录实际大小。
标定与机器人模型
保留相机的标定位于各模型目录的 meta/calibration.json。双臂名义结构参考为 robot_model/flexiv_rizon4_dual_umi.urdf；集成时需核对实际设备版本与标定。
检查范围
本次检查覆盖视频文件完整性、帧数与分辨率、音频轨是否缺失、Parquet 行数及索引、时间戳单调性、状态与动作有限性、下一帧状态关系，以及元数据对保留视频的引用。源转换器记录的重复取帧计数仍保留：OpenPI 左/右为 7/6，FLUX 左/右为 30/31；跳帧计数均为 0。这些是源转换器计数，不等同于本次重复帧质检结论。
人工演示的质检报告不覆盖这两条 rollout。本次未运行完整 rollout 运动质检，也未评估任务成功率。本次发布检查见 rollout 验证。这些样例不构成任务成功率评测。
Robot Rollout Data
One Flexiv bimanual garment-folding rollout is provided for each of OpenPI π0.5 and FLUX in LeRobot v3 format. Both datasets retain two ego camera views (left/right, 960×960, 30 Hz), per-frame states/actions, bilateral IMU, calibration and robot H5 records. Audio and rear-camera views are excluded from the rollout delivery.
| Model | Directory | Episodes | Frames | Duration |
|---|---|---|---|---|
| OpenPI π0.5 | openpi_pi05/ |
1 | 6,540 | 218 seconds |
| FLUX | flux/ |
1 | 30,619 | 1,020.633 seconds (about 17 minutes) |
Together they contain 37,159 frames / 20 min 38.6 sec. This directory contains execution examples; human demonstration data is not included here.
Files and reading
Treat openpi_pi05/ and flux/ as separate LeRobot dataset roots. Each starts at episode 0; their index files cannot be concatenated directly. Paths below are relative to the respective root.
| Path | Content |
|---|---|
data/chunk-000/file-000.parquet |
Per-frame states, actions, joint data and timestamps |
videos/observation.images.left_ego/ |
Left ego video |
videos/observation.images.right_ego/ |
Right ego video |
meta/info.json, meta/stats.json |
Delivered feature schema and statistics |
meta/episodes/, meta/tasks.parquet |
Episode index, video references and task |
meta/calibration.json |
Retained camera intrinsics and numerical extrinsics |
imu/ |
Left/right IMU at the original sample rates |
robot/episode_0000.h5 |
Robot samples and control records before video alignment |
insta360_export.json |
Export configuration, synchronization and source converter checks |
checksums.sha256 |
SHA-256 checksums of the delivered files |
State and action vectors have 16 dimensions: left hand followed by right hand, each as [x, y, z, qw, qx, qy, qz, gripper]. Positions are in metres, quaternions use wxyz, and gripper values are in degrees. Export mode is action_mode=next_state: action[t] is the next-frame state, excluding the last frame, not a raw model action chunk. Controller records are in H5. Its sample span differs from the aligned LeRobot data; use per-side synchronization parameters rather than joining by row number. The two releases use different host-clock origins; consult each dataset's own synchronization information.
data_files_size_in_mb and video_files_size_in_mb in meta/info.json are LeRobot sharding settings, not actual delivery sizes.
Calibration and robot model
Calibration is in each dataset's meta/calibration.json. The nominal dual-arm structure reference is robot_model/flexiv_rizon4_dual_umi.urdf; confirm the actual hardware version and calibration before integration.
Validation scope
Checks cover video completeness, frame counts/resolution, absence of audio streams, Parquet row counts and indices, increasing timestamps, finite states/actions, next-state consistency and metadata references to retained videos. Source converter repeated-frame selection counts remain recorded: OpenPI left/right 7/6, FLUX left/right 30/31, with zero skipped frames. These source counts are not a new duplicate-frame QC result.
The human demonstration QC report does not cover these rollouts. Complete rollout motion QC and task success evaluation were not performed. See the release validation. These examples do not constitute a task-success evaluation.
下载与最小读取 / Download and minimal inspection
这些样例位于 model repo，不是独立 dataset repo。下载保留目录结构后，用下列方法检查 Parquet；LeRobot 加载器请分别指向各自的数据集根目录。元数据中的 train: 0:1 是导出索引，不代表独立训练/测试划分。
These samples live in a model repo, not a separate dataset repo. Preserve the directory structure when downloading. Inspect Parquet as below, and point LeRobot loaders to each dataset root separately. The exported train: 0:1 split is an index convention, not an independent train/test protocol.
pip install -U huggingface_hub pyarrow
hf download Crobotia/iUMI_Inference --local-dir iUMI_Inference --include "rollout_data/*"
from pathlib import Path
import json
import pyarrow.parquet as pq
root = Path("iUMI_Inference/rollout_data/openpi_pi05") # or: flux
info = json.loads((root / "meta/info.json").read_text())
frames = pq.read_table(root / "data/chunk-000/file-000.parquet")
assert frames.num_rows == info["total_frames"]
print(frames.select(["timestamp", "observation.state", "action"]).slice(0, 2).to_pylist())
从单个数据集根目录运行 shasum -a 256 -c checksums.sha256 可检查其 13 个文件。整个仓库的校验清单另位于根目录。现有校验清单均保留文件原始字节；本次未重采样或重新编码视频。
Run shasum -a 256 -c checksums.sha256 inside either dataset root to verify its 13 listed files. The repository root has a separate combined manifest. Source data bytes and per-dataset manifests are preserved; videos were not resampled or re-encoded for this upload.
使用条款 / Terms
本次样例未附独立媒体/数据许可；源码 Apache-2.0 标签不自动覆盖这些文件。适用条款见 LICENSES.md，使用或再分发前请向 Crobotia 确认。
No separate media/data license declaration accompanies these samples. The source-code Apache-2.0 tag does not automatically cover them. See LICENSES.md and confirm applicable terms with Crobotia before use or redistribution.