--- license: cc-by-4.0 pretty_name: DisAss Raw 30 Hz Robot Disassembly Episodes task_categories: - robotics tags: - robotics - vla - world-model - world-action-model - robot-learning - manipulation - disassembly --- # DisAss: raw 30 Hz robot disassembly episodes DisAss is a curated release of raw dual-camera robot manipulation episodes for seven computer-component disassembly cases. It contains exactly 50 episodes per case (350 total) selected from a frozen accepted corpus. Every episode is kept in its original SELF-VLA Common V2 representation and packaged as one ZIP. This is raw acquisition data, not a ready-made 10 Hz, LeRobot, RLDS, or model-specific export. It is intended as source material for end-to-end VLA, world-model, world-action-model, and related robot-learning pipelines whose authors define and validate their own temporal segmentation, actions, splits, and normalization. ## Contents | Case | Episodes | Raw frames | Corrected episodes | Collection sessions | |---|---:|---:|---:|---:| | `connector` | 50 | 37,550 | 1 | 19 | | `cpu` | 50 | 90,227 | 20 | 13 | | `cpu_fan` | 50 | 37,002 | 1 | 14 | | `graphic_card` | 50 | 56,744 | 1 | 17 | | `hdd` | 50 | 53,255 | 0 | 15 | | `ram` | 50 | 34,387 | 1 | 17 | | `ssd` | 50 | 54,692 | 1 | 11 | | **Total** | **350** | **363,857** | **25** | — | `hdd_limited` and `ssd_limited` are deliberately excluded. The frozen source corpus contains only 29 and 2 accepted episodes for those limited-clearance variants, respectively, so they cannot meet the 50-episode quota and are not silently merged into canonical HDD/SSD. Exact archive sizes, SHA-256 values, episode/session UUIDs, frame counts, and skill/config hashes are in [`manifests/episodes.jsonl`](manifests/episodes.jsonl). ## How the data were collected Each episode follows the SELF-VLA Common V2 acquisition contract: 1. While the robot is parked, the operator selects and authenticates the component, physical instance, collection intent, skill CSV, and execution configuration for that episode. 2. L25 arms recording. Joystick motion begins a role-neutral `teleop` interval. 3. R34 starts the authenticated procedural skill from the current TCP. CPU can instead use R38 to move to an operator-captured start reference, dwell 0.5 s, and then begin its skill. 4. Procedural motion is recorded as `skill`. An evidence-backed intervention may add human `correction` and linked procedural `skill_resume` intervals. 5. The episode is validated and atomically committed before HOME. HOME/camera lifecycle receipts, the physical outcome, and an independent data-quality decision are then attached to metadata. Saved frames are driven by synchronized camera arrivals: a frame is recorded only when both base and wrist cameras advance, at the slower stream rate (normally 30 Hz). The robot state is aligned to the camera-pair reference time. Teleoperation/control receipts run at 200 Hz and are stored separately; 200 Hz is not the saved image-frame rate. ## Repository layout ```text README.md DATA_STRUCTURE.md manifests/ episodes.jsonl episodes.csv summary.json source_authorities.json checksums/ SHA256SUMS data/ connector/*.zip cpu/*.zip cpu_fan/*.zip graphic_card/*.zip hdd/*.zip ram/*.zip ssd/*.zip tools/ inspect_episode.py ``` Each component directory contains 50 ZIPs. Each ZIP contains one unchanged raw episode directory: ```text episode_YYYYMMDD_HHMMSS_microseconds/ episode_meta.json frame_0000.pkl frame_0001.pkl ... control_trace.jsonl causal_events.jsonl ``` See [`DATA_STRUCTURE.md`](DATA_STRUCTURE.md) for the field-level contract, phase/action semantics, units, and downstream conversion guidance. ## Download Download the small documentation and manifests: ```bash hf download ChangChrisLiu/DisAss \ --repo-type dataset \ --exclude "data/**" \ --local-dir DisAss ``` Download one case: ```bash hf download ChangChrisLiu/DisAss \ --repo-type dataset \ --include "data/ram/*.zip" \ --include "manifests/**" \ --include "checksums/**" \ --include "tools/**" \ --local-dir DisAss ``` Download a named episode by using its `archive_path` from the manifest: ```bash hf download ChangChrisLiu/DisAss \ data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip \ --repo-type dataset \ --local-dir DisAss ``` ## Inspect and extract Metadata inspection does not load pickle frames: ```bash python DisAss/tools/inspect_episode.py \ DisAss/data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip ``` Explicitly inspect one trusted frame's keys, types, shapes, and dtypes: ```bash python DisAss/tools/inspect_episode.py \ DisAss/data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip \ --frame 0 ``` Safely extract after validating all member paths and types: ```bash python DisAss/tools/inspect_episode.py \ DisAss/data/ram/episode_YYYYMMDD_HHMMSS_microseconds.zip \ --extract extracted ``` Python pickle can execute code. Only unpickle data obtained from this trusted repository, and do so in a controlled environment. The inspection tool loads a pickle only when `--frame` is explicitly supplied. ## Selection policy Candidates had to be canonical, operator-accepted, `fps=30`, complete on disk, and strict passes for schema, image/robot stream, 10 Hz *derivability*, robot state variation, and TCP/joint integrity. The historical field `robot_10hz_ok` means the 30 Hz raw feedback can safely support a derived 10 Hz representation; it does not mean these source files are 10 Hz. Within each case, selection is deterministic from seed `DisAss-raw-v1-2026-08-28`. It preserves a proportional correction stratum (at least one when available) and samples round-robin across collection sessions using SHA-256 rankings. Full rules and source-ledger hashes are in [`manifests/source_authorities.json`](manifests/source_authorities.json). ## Important use boundaries - No train/validation/test split is assigned. Downstream users should prevent leakage across collection sessions and any other grouping appropriate to their experiment. - Segment at episode, phase, control-owner, timing, and repair boundaries before downsampling or constructing next-step actions. - `commanded_action` is a human teleop/correction receipt. It is null on procedural `skill` and `skill_resume` frames; null does not mean a zero action. - Robot state is observed state. A control receipt is an attempted/issued command. Do not treat the two as interchangeable targets. - Outcome, collection intent, correction decisions, and data acceptance are episode-level provenance. They are not automatically valid predictor inputs. - This release provides source evidence, not rewards, returns, policy targets, graph labels, future outcomes, or Action-Expert proposals. ## Integrity and license Verify downloaded archives from the repository root: ```bash sha256sum -c checksums/SHA256SUMS ``` The license metadata already present in this Hugging Face repository is retained: CC BY 4.0.