Add selected 16,000 ClickBell trajectories under real_data/clickbell

real_data/clickbell/DATASET_INFO.json

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+{
+  "task": "clickbell",
+  "episodes": 16000,
+  "left": 8000,
+  "right": 8000,
+  "collection_domain": "simulation",
+  "robot": "Piper real-robot URDF",
+  "robot_urdf_commit": "ac41fcbcdda598f01b51cf6175ed9a24d0dacadc",
+  "format": "original, byte-identical HDF5 episodes in gzip-compressed tar shards",
+  "selection_manifest_source_sha256": "215e85dcba42d81a8f52ad646254721f681a1e29de724bb3f2e3cda97165aeaf",
+  "excluded_candidate_episodes": 391,
+  "physics_hz": 250,
+  "save_freq": 15,
+  "nominal_observation_hz": 16.666666666666668,
+  "rgb_views": 3,
+  "source_root": "/mnt/nas-h/huangzengxiang/intact-flash-sim2real/dataset/robotwin-high-entropy/single-arm/clickbell",
+  "source_root_requested": "/mnt/INTACT-WAM-NAS/huangzengxiang/intact-flash-sim2real/dataset/robotwin-high-entropy/single-arm/clickbell",
+  "archives": [
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+}

real_data/clickbell/README.md

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+# 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.

real_data/clickbell/SHA256SUMS

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+5c0f88cc41b7844a52c9a442b394ff99c610d9ef0fe51b05c9d7d1c39edde70f  selection_manifest.jsonl
+215e85dcba42d81a8f52ad646254721f681a1e29de724bb3f2e3cda97165aeaf  source_selection_manifest.jsonl
+59edfeb1e6dfd8939863479592c58cc3d91f85024c93aac491ad581081b44f32  source_summary.json

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real_data/clickbell/source_summary.json

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+  "selection_manifest": "selection_manifest.jsonl",
+  "source_audit_reports": 188,
+  "stable_feasible_min_success_count": 8,
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+}