Cocoyawn32/assemble_battery_long_sarm_two_stage

assemble_battery_long — two-stage SARM annotations

LeRobot v3 conversion and two-stage SARM annotation of m1ku2/assemble_battery_long.

Contents

• 160 trajectories: 144 perfect and 16 retry
• 153,624 frames at 30 FPS
• Four video representations: high, left wrist, right wrist, and a vertical synchronized composite
• perfect/anchor.hdf5 is a real-robot state anchor and is intentionally excluded

SARM vocabulary

1. Position the mouse and battery for insertion
2. Insert the battery into the mouse with correct polarity until fully seated

The boundary is the first clear timestamp when the aligned battery contacts the slot entrance and starts entering. Stage 1 is optional for direct-insertion trajectories; all 160 trajectories in this revision contain visible mouse or battery positioning and therefore use both stages.

Annotations are stored in the standard LeRobot episode metadata columns:

• sparse_subtask_names, sparse_subtask_start_times, sparse_subtask_end_times
• sparse_subtask_start_frames, sparse_subtask_end_frames
• corresponding dense_* columns
• legacy unprefixed sparse columns

Annotation method

Boundaries were localized with local Qwen3-VL-30B-A3B-Instruct from timestamped candidate frames. A targeted high-camera contact pass was used for all 160 trajectories. Six representative ordinary, shortest, intervention, and long-retry episodes use reviewed multi-view boundary overrides. All episodes were checked for exact label order, positive stage duration, continuous coverage, and final-frame coverage.

Mean per-episode temporal proportions:

• Position mouse and battery: 0.58146968
• Insert battery: 0.41853032

No annotation failures remain in this revision.