| --- |
| dataset_info: |
| features: |
| - name: text |
| dtype: string |
| - name: image |
| sequence: string |
| - name: gripper_image |
| sequence: string |
| - name: action |
| sequence: |
| sequence: float32 |
| tags: |
| - robotics |
| - real-world |
| - teleoperation |
| - vision-language-action |
| --- |
| |
| # Real Data Tidy Up |
|
|
| Processed real robot teleoperation data from `/remote-home/share/teledata/raw/`, prepared from the existing processed outputs under: |
|
|
| `/remote-home/share/teledata/processed/2026-06-16_18_front_5hz_dual_action` |
|
|
| No raw data is included in this repository. The uploaded artifact contains encoded main-camera and wrist-camera frame tokens, camera-frame action data, base-frame action data, 7D training pickle files, normalizer statistics, processing logs, and gripper-based keyframe targets. |
|
|
| ## Files |
|
|
| - `data/teledata_2026-06-16_18_front_5hz_dual_action_encoded_pkl.tar.zst` |
| - Complete packaged artifact. |
| - Contains: |
| - `real_all_camera/`: camera-frame action `.npy` data. |
| - `real_all_base/`: base-frame action `.npy` data. |
| - `real_all_codes_main_256x144/`: encoded main-camera tokens. |
| - `real_all_gripper_codes_wrist_240x135/`: encoded wrist-camera tokens. |
| - `meta/real_all_camera_norm.pkl` |
| - `meta/real_all_base_norm.pkl` |
| - `configs/normalizer_real_all_camera/norm_stats.json` |
| - `configs/normalizer_real_all_base/norm_stats.json` |
| - `MANIFEST.md` |
| - `camera_frame/real_all_camera_norm.pkl`: camera-frame 7D training pickle. `action[:, 6]` is absolute current gripper state. |
| - `base_frame/real_all_base_norm.pkl`: base-frame 7D training pickle. `action[:, 6]` is absolute current gripper state. |
| - `camera_frame/norm_stats.json`: camera-frame normalizer statistics. |
| - `base_frame/norm_stats.json`: base-frame normalizer statistics. |
| - `keyframes_by_gripper/`: gripper-based keyframe extraction outputs. |
| - `keyframes_camera.pkl` |
| - `keyframes_base.pkl` |
| - `keyframes_camera.json` |
| - `keyframes_base.json` |
| - `keyframes_summary.json` |
| - `keyframes_summary.csv` |
| - `abnormal_episodes.json` |
| - `README_keyframes_by_gripper.md` |
| - `manifest.json`: upload file manifest with sizes and SHA-256 hashes. |
| - `metadata/validation_summary.json`: validation summary generated before upload. |
| - `metadata/source_MANIFEST.md`: source processing manifest copied from the processed output directory. |
|
|
| ## Validation Summary |
|
|
| - Camera-frame scenes: 1188. |
| - Base-frame scenes: 1188. |
| - Encoded main-camera scenes: 1188. |
| - Encoded wrist-camera scenes: 1188. |
| - Camera-frame action files: 232107. |
| - Base-frame action files: 232107. |
| - Camera-frame pkl samples: 1188. |
| - Base-frame pkl samples: 1188. |
| - Total action steps per pkl: 232107. |
| - Action shape: `(7,)`. |
| - Gripper source: raw CSV `Gripper`, copied to pkl `gripper` and `action[:, 6]`. |
| - Normal keyframe episodes: 1176. |
| - Abnormal keyframe episodes: 12. |
| - 7-keyframe episodes: 1067. |
| - 9-keyframe episodes: 109. |
| - Both pkl files were read successfully before upload. |
| - The `.tar.zst` archive passed `zstd -t` validation before upload. |
|
|
| ## Loading |
|
|
| Example: |
|
|
| ```python |
| import pickle |
| |
| with open("camera_frame/real_all_camera_norm.pkl", "rb") as f: |
| camera_data = pickle.load(f) |
| |
| with open("base_frame/real_all_base_norm.pkl", "rb") as f: |
| base_data = pickle.load(f) |
| ``` |
|
|
| To unpack the full encoded/action artifact: |
|
|
| ```bash |
| tar --use-compress-program=unzstd -xf data/teledata_2026-06-16_18_front_5hz_dual_action_encoded_pkl.tar.zst |
| ``` |
|
|
