Add selected 16,000 ClickBell trajectories under real_data/clickbell

2ea37b7 verified 18 days ago

2.42 kB

# ClickBell selected 16,000 trajectories

This release contains exactly **16,000 selected simulated ClickBell trajectories**: 8,000 using the left arm and 8,000 using the right arm. It was collected in simulation using the Piper real-robot URDF from `piper_ros@ac41fcbcdda598f01b51cf6175ed9a24d0dacadc`. The repository directory is named `real_data` as requested; these are **not real-world robot recordings**.

Each episode is the original, byte-identical `.hdf5` file, containing three RGB views, joint states, control targets, the raw 250 Hz control stream, camera calibration, and scene metadata. The source uses 250 Hz physics with `save_freq=15` (nominal saved observations at 16.6667 Hz). No action realignment, normalization, image conversion, or data resampling was applied during publication.

The seven `clickbell-*-of-00007.tar.gz` files contain only the selected HDF5 episodes. They exclude the 391 candidates not selected for the formal dataset and exclude collection caches and failed trajectories. Within each archive, the original `shard_*/data/episode*.hdf5` paths are retained. Extract all seven archives into the same directory.

```python
from pathlib import Path
import tarfile
from huggingface_hub import snapshot_download
root = Path(snapshot_download("INTACT-JEPA/INTACT", allow_patterns="real_data/clickbell/*")) / "real_data/clickbell"
for archive in sorted(root.glob("clickbell-*-of-00007.tar.gz")):
    with tarfile.open(archive, "r:gz") as f:
        f.extractall("clickbell_episodes", filter="data")
```

`selection_manifest.jsonl` has one record per selected episode with its published `archive`, `member`, byte count, and SHA-256, together with the original selection fields. `source_selection_manifest.jsonl` and `source_summary.json` preserve the original selector output. The original selection manifest SHA-256 is `215e85dcba42d81a8f52ad646254721f681a1e29de724bb3f2e3cda97165aeaf`.

`DATASET_INFO.json` records the collection and release identities. `SHA256SUMS` covers every other published file. Every source episode archive was checked against the source release SHA-256 manifest while reading it; every published HDF5 has its own SHA-256 in the selection manifest.

The inherited task, camera, action, and success contracts are retained, with the robot URDF replaced by the stated real-robot model. The `real_data` folder name does not imply a measured sim-to-real result.

	# ClickBell selected 16,000 trajectories

	This release contains exactly 16,000 selected simulated ClickBell trajectories: 8,000 using the left arm and 8,000 using the right arm. It was collected in simulation using the Piper real-robot URDF from `piper_ros@ac41fcbcdda598f01b51cf6175ed9a24d0dacadc`. The repository directory is named `real_data` as requested; these are not real-world robot recordings.

	Each episode is the original, byte-identical `.hdf5` file, containing three RGB views, joint states, control targets, the raw 250 Hz control stream, camera calibration, and scene metadata. The source uses 250 Hz physics with `save_freq=15` (nominal saved observations at 16.6667 Hz). No action realignment, normalization, image conversion, or data resampling was applied during publication.

	The seven `clickbell--of-00007.tar.gz` files contain only the selected HDF5 episodes. They exclude the 391 candidates not selected for the formal dataset and exclude collection caches and failed trajectories. Within each archive, the original `shard_/data/episode*.hdf5` paths are retained. Extract all seven archives into the same directory.

	```python
	from pathlib import Path
	import tarfile
	from huggingface_hub import snapshot_download

	root = Path(snapshot_download("INTACT-JEPA/INTACT", allow_patterns="real_data/clickbell/*")) / "real_data/clickbell"
	for archive in sorted(root.glob("clickbell-*-of-00007.tar.gz")):
	with tarfile.open(archive, "r:gz") as f:
	f.extractall("clickbell_episodes", filter="data")
	```

	`selection_manifest.jsonl` has one record per selected episode with its published `archive`, `member`, byte count, and SHA-256, together with the original selection fields. `source_selection_manifest.jsonl` and `source_summary.json` preserve the original selector output. The original selection manifest SHA-256 is `215e85dcba42d81a8f52ad646254721f681a1e29de724bb3f2e3cda97165aeaf`.

	`DATASET_INFO.json` records the collection and release identities. `SHA256SUMS` covers every other published file. Every source episode archive was checked against the source release SHA-256 manifest while reading it; every published HDF5 has its own SHA-256 in the selection manifest.

	The inherited task, camera, action, and success contracts are retained, with the robot URDF replaced by the stated real-robot model. The `real_data` folder name does not imply a measured sim-to-real result.