test upload README via https://hf-mirror.com

README.md

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+---
+pretty_name: ManiSoft
+license: mit
+language:
+- en
+size_categories:
+- 1K<n<10K
+task_categories:
+- robotics
+tags:
+- robotics
+- soft-robotics
+- manipulation
+- imitation-learning
+- vision-language-action
+- embodied-ai
+- simulation
+---
+
+# ManiSoft
+
+ManiSoft is a soft-robot manipulation dataset and benchmark for vision-language-action learning. It contains expert demonstrations for four manipulation tasks:
+
+- `COLL`: Collection
+- `ALN`: Alignment
+- `ARR`: Arrangement
+- `STK`: Stacking
+
+This upload directory currently provides:
+
+- `assets.tar`: simulator assets required for replay and training
+- `clean/`: task data packaged as `.tar` shards for efficient download and upload
+- `data_extract.sh`: a utility script for recursively extracting all dataset shards
+
+## Task Layout in This Repository
+
+The files hosted in the dataset repository are organized as tar shards rather than already-extracted case folders.
+
+```text
+.
+├── assets.tar
+├── clean
+│   ├── ALN
+│   │   ├── train_bottle_0_9.tar
+│   │   ├── train_bottle_10_19.tar
+│   │   ├── eval_bottle_0_9.tar
+│   │   └── ...
+│   ├── ARR
+│   │   ├── eval_bottle_0_9.tar
+│   │   └── ...
+│   ├── COLL
+│   │   ├── train_pencup_0_9.tar
+│   │   ├── eval_boxdrink_0_9.tar
+│   │   └── ...
+│   └── STK
+│       ├── train_default_0_9.tar
+│       ├── eval_default_0_9.tar
+│       └── ...
+└── data_extract.sh
+```
+
+For `ALN`, `ARR`, and `COLL`, shard names follow:
+
+```text
+<split>_<object_category>_<start_case_id>_<end_case_id>.tar
+```
+
+For `STK`, shard names follow:
+
+```text
+<split>_default_<start_case_id>_<end_case_id>.tar
+```
+
+## Extracted Dataset Format
+
+After extraction, each shard restores the original directory structure. A typical case directory looks like this:
+
+```text
+clean/
+└── ALN/
+    ├── train/
+    │   └── bottle/
+    │       └── 0/
+    │           ├── environment.yaml
+    │           ├── instructions.txt
+    │           ├── trajectory.pkl
+    │           └── visual/
+    └── eval/
+        └── bottle/
+            └── 0/
+                ├── environment.yaml
+                ├── instructions.txt
+                ├── trajectory.pkl
+                └── visual/
+```
+
+Each case is typically organized by:
+
+```text
+<setting>/<task>/<split>/<object_category>/<case_id>/
+```
+
+Common files inside one case:
+
+- `instructions.txt`: language instructions for the manipulation case
+- `environment.yaml`: scene and task configuration
+- `trajectory.pkl`: expert trajectory stored as a time-indexed dictionary
+- `visual/`: visualization assets such as rendered frames or videos
+
+## Quick Download Example
+
+If you use the Hugging Face CLI, you can download the dataset to a local directory like this:
+
+```bash
+hf download JobsWei/ManiSoft --local-dir ./ManiSoft --repo-type dataset
+```
+
+If you only need the benchmark data without simulator assets:
+
+```bash
+hf download JobsWei/ManiSoft --local-dir ./ManiSoft --repo-type dataset --exclude "assets.tar"
+```
+
+If you only need evaluation shards:
+
+```bash
+hf download JobsWei/ManiSoft --local-dir ./ManiSoft --repo-type dataset --include "**/eval/**"
+```
+
+## `data_extract.sh` Usage
+
+The repository includes `data_extract.sh` for recursively finding and extracting all `.tar` files under a root directory with parallel workers.
+
+### Command
+
+```bash
+bash data_extract.sh <tar_root_dir> <max_processes> <delete_tar_file>
+```
+
+### Arguments
+
+- `tar_root_dir`: root directory to recursively search for `.tar` files
+- `max_processes`: number of parallel extraction processes, must be a positive integer
+- `delete_tar_file`: whether to delete each `.tar` after successful extraction
+  - `0`: keep tar files
+  - `1`: delete tar files
+
+### Typical Examples
+
+Extract all dataset shards under the downloaded directory and keep the original tar files:
+
+```bash
+bash data_extract.sh ./ManiSoft 8 0
+```
+
+Extract all dataset shards and delete each tar file after successful extraction:
+
+```bash
+bash data_extract.sh ./ManiSoft 8 1
+```
+
+Extract only the `clean` subset:
+
+```bash
+bash data_extract.sh ./ManiSoft/clean 8 1
+```
+
+### What the Script Does
+
+- recursively finds all `.tar` files under `tar_root_dir`
+- extracts them in parallel
+- restores files into the original relative paths stored in each tar shard
+- optionally removes the source tar files after successful extraction
+
+## Recommended Workflow
+
+```bash
+hf download JobsWei/ManiSoft --local-dir ./ManiSoft --repo-type dataset --exclude "assets.tar"
+cp /path/to/data_extract.sh ./ManiSoft/
+cd ./ManiSoft
+bash data_extract.sh ./clean 8 1
+```
+
+If you also need simulator assets:
+
+```bash
+tar -xvf assets.tar
+```
+
+## Notes
+
+- The extraction script requires a Unix-like shell environment with `bash`, `find`, `tar`, and standard job control support.
+- Different shards may expand into the same `train/` or `eval/` directory tree. This is expected.
+- `trajectory.pkl` is the main expert trajectory file used for imitation learning and replay.