Add files using upload-large-folder tool

0507_1_graphics_card_installation/annotated/release_report.json

@@ -0,0 +1,14 @@
+{
+  "release_id": "0507_1-v0.1.0",
+  "segment_count": 335,
+  "splits": {
+    "train": 335
+  },
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:22:08.705493+00:00",
+    "rule": "Episodes are removed only when no valid segment remains; explicit invalid/QR-out-of-view notes remove only that segment.",
+    "restored_valid_segments": 33,
+    "removed_explicit_invalid_segments": 0,
+    "removed_no_valid_raw_episodes": []
+  }
+}

0507_1_graphics_card_installation/annotated/schema.json

@@ -0,0 +1,136 @@
+{
+  "version": 2,
+  "composite_mode": true,
+  "label_track": {
+    "key": "annotation",
+    "color": "#4FC3F7",
+    "summary_field": "action"
+  },
+  "categories": [
+    {
+      "key": "environment",
+      "type": "single",
+      "allow_custom": true,
+      "color": "#AED581",
+      "options": [
+        "hardware store",
+        "office 1",
+        "office 2",
+        "grocery store 1",
+        "grocery store 2",
+        "workshop",
+        "kitchen",
+        "sports store",
+        "bedroom",
+        "plant store",
+        "restaurant 1",
+        "restaurant 2",
+        "living room",
+        "biochemistry lab",
+        "wet lab bench",
+        "solution preparation station",
+        "distillation station",
+        "fume hood",
+        "sterile workbench",
+        "analytical instrument station",
+        "cold storage area",
+        "waste disposal area",
+        "electronics workbench"
+      ]
+    },
+    {
+      "key": "object",
+      "type": "single",
+      "allow_custom": true,
+      "color": "#AED581",
+      "options": [
+        "Tools & Hardware",
+        "Containers & Storage",
+        "Furniture & Fixtures",
+        "Food & Beverages",
+        "Sports & Recreation",
+        "Kitchenware & Dining",
+        "Cleaning & Maintenance",
+        "Construction & Materials",
+        "Electronics & Devices",
+        "Clothing & Accessories",
+        "Office & Stationery",
+        "Miscellaneous",
+        "Appliances",
+        "Plants & Nature",
+        "Lab Glassware",
+        "Measuring & Transfer Tools",
+        "Reagent Containers",
+        "Heating & Mixing Equipment",
+        "Separation & Distillation Equipment",
+        "Analytical Instruments",
+        "Lab Consumables",
+        "Safety & PPE",
+        "Waste Containers",
+        "graphics card, motherboard PCIe slot, and power connector"
+      ]
+    },
+    {
+      "key": "action",
+      "type": "single",
+      "allow_custom": true,
+      "color": "#4FC3F7",
+      "options": [
+        "picking up",
+        "placing",
+        "pulling",
+        "pressing",
+        "holding",
+        "pushing",
+        "grasping",
+        "adjusting",
+        "touching",
+        "moving",
+        "preparing solution",
+        "measuring volume",
+        "weighing sample",
+        "pipetting",
+        "pouring",
+        "adding reagent",
+        "mixing",
+        "stirring",
+        "adjusting pH",
+        "titrating",
+        "heating",
+        "cooling",
+        "filtering",
+        "distilling",
+        "collecting distillate",
+        "rinsing",
+        "labeling",
+        "inserting graphics card",
+        "plugging in power connector",
+        "removing graphics card",
+        "unplugging power connector"
+      ]
+    },
+    {
+      "key": "grasp_type",
+      "type": "single",
+      "allow_custom": true,
+      "color": "#FF7043",
+      "options": [
+        "Small Diameter",
+        "Tip Pinch",
+        "Prismatic 2 Finger",
+        "Prismatic 3 Finger",
+        "Index Finger Extension",
+        "Medium Wrap",
+        "Palmar",
+        "Fixed Hook",
+        "Light Tool",
+        "Precision Sphere"
+      ]
+    },
+    {
+      "key": "notes",
+      "type": "free_text",
+      "per_segment": true
+    }
+  ]
+}

0507_1_graphics_card_installation/annotated/validation_report.json

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+{
+  "summary": {
+    "p0": 0,
+    "p1": 335,
+    "p2": 0
+  },
+  "issues": [],
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:22:08.708497+00:00",
+    "source_validation_summary_before_revised_cleanup": {
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+      "p1": 0,
+      "p2": 0
+    },
+    "explicit_invalid_segment_ids_removed": [],
+    "no_valid_segment_episodes_removed": [],
+    "p0_export_failures_treated_as_recoverable": true
+  }
+}

0509_1_graphics_card_and_imu_testing/dataset_metadata.json

@@ -0,0 +1,1126 @@
+{
+  "id": "rimbot_0509_1_graphics_card_and_imu_testing",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0509_1",
+  "annotated_dataset_id": "0509_1",
+  "task": "graphics card installation/removal and IMU finished product testing",
+  "environment": "electronics workbench",
+  "object": "varies by episode range",
+  "objects": [
+    "graphics card, motherboard PCIe slot, and power connector",
+    "IMU device and test fixture"
+  ],
+  "actions": [
+    "picking up",
+    "installing graphics card",
+    "placing",
+    "removing graphics card",
+    "positioning IMU device",
+    "pressing control button"
+  ],
+  "action_counts": {
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+    "installing graphics card": 76,
+    "placing": 128,
+    "removing graphics card": 25,
+    "positioning IMU device": 86,
+    "pressing control button": 161
+  },
+  "object_counts": {
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+    "IMU device and test fixture": 581
+  },
+  "split": "train",
+  "annotated_segments": 1087,
+  "annotated_episodes": 164,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0509_1",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0509_1\\0509_1_annotations.json",
+  "package_created_at": "2026-05-28T02:50:35.239371+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_1.",
+    "Labels were normalized to English in this Hugging Face package only.",
+    "Missing annotated episodes and excluded episodes are recorded in coverage and README.md.",
+    "Some source notes use hard-drive wording, but this package follows the confirmed task semantics: graphics card installation/removal.",
+    "Unannotated episodes were removed from the packaged raw LeRobot copy; the original source dataset was not modified and episode indices remain sparse."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
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+    "p1": 1087,
+    "p2": 0
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+  "task_ranges": [
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+      "episode_end": 109,
+      "dataset_episode_start": 0,
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+      "task": "installing and removing a graphics card",
+      "environment": "electronics workbench",
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+        "installing graphics card",
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+      ]
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+      "episode_end": 368,
+      "dataset_episode_start": 110,
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+      "task": "testing a finished IMU product with a test fixture",
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+    336
+  ],
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+  "raw_available_episode_ranges": [
+    "0-31",
+    "33",
+    "36-37",
+    "39-40",
+    "42",
+    "47",
+    "51",
+    "54-55",
+    "57-59",
+    "61",
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+    "65-68",
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+    "92",
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+    "110-113",
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+    "130-131",
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+    "154-157",
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+    "182",
+    "190",
+    "192",
+    "199",
+    "201",
+    "213",
+    "216",
+    "219-220",
+    "224",
+    "227-231",
+    "238",
+    "242",
+    "255",
+    "265",
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+    "274",
+    "279",
+    "288-289",
+    "293",
+    "295-296",
+    "300",
+    "305-306",
+    "310",
+    "313",
+    "315",
+    "318",
+    "320",
+    "323",
+    "326-329",
+    "333",
+    "335",
+    "337-368"
+  ],
+  "raw_sparse_episode_indices": true,
+  "raw_total_frames": 103149,
+  "raw_source_total_frames": 253588
+}

0509_1_pipette_sample_transfer/README.md

@@ -0,0 +1,46 @@
+# 0509_1_pipette_sample_transfer Dataset
+
+This package contains the `0509_1` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using a pipette to transfer sample from a petri dish to a beaker
+- Environment: `biology lab`
+- Object: `pipette and petri dish`
+- Split: `train`
+- Annotated episodes: 114
+- Annotated segments: 454
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `pipetting`
+- `pressing`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_1.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to biology lab.
+- Object labels were normalized to pipette and petri dish.
+
+## Folder Structure
+
+- `raw/lerobot/0509_1/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.

0509_1_pipette_sample_transfer/dataset_metadata.json

@@ -0,0 +1,42 @@
+{
+  "id": "0509_1_pipette_sample_transfer",
+  "raw_dataset_id": "0509_1",
+  "task": "using a pipette to transfer sample from a petri dish to a beaker",
+  "environment": "biology lab",
+  "object": "pipette and petri dish",
+  "actions": [
+    "picking up",
+    "pipetting",
+    "pressing",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 114,
+    "pipetting": 114,
+    "pressing": 113,
+    "placing": 113
+  },
+  "split": "train",
+  "annotated_segments": 454,
+  "annotated_episodes": 114,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0509_1",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0509\\export_0509_1",
+  "package_created_at": "2026-05-27T07:09:31.270149+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_1.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to biology lab.",
+    "Object labels were normalized to pipette and petri dish."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 0,
+    "p2": 0
+  }
+}

0509_2_pipette_sample_transfer/README.md

@@ -0,0 +1,46 @@
+# 0509_2_pipette_sample_transfer Dataset
+
+This package contains the `0509_2` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using a pipette to transfer sample from a petri dish to a beaker
+- Environment: `biology lab`
+- Object: `pipette and petri dish`
+- Split: `train`
+- Annotated episodes: 108
+- Annotated segments: 430
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `pipetting`
+- `pressing`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_2.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to biology lab.
+- Object labels were normalized to pipette and petri dish.
+
+## Folder Structure
+
+- `raw/lerobot/0509_2/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.

0509_2_pipette_sample_transfer/dataset_metadata.json

@@ -0,0 +1,42 @@
+{
+  "id": "0509_2_pipette_sample_transfer",
+  "raw_dataset_id": "0509_2",
+  "task": "using a pipette to transfer sample from a petri dish to a beaker",
+  "environment": "biology lab",
+  "object": "pipette and petri dish",
+  "actions": [
+    "picking up",
+    "pipetting",
+    "pressing",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 106,
+    "pipetting": 108,
+    "pressing": 108,
+    "placing": 108
+  },
+  "split": "train",
+  "annotated_segments": 430,
+  "annotated_episodes": 108,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0509_2",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0509\\export_0509_2",
+  "package_created_at": "2026-05-27T07:11:24.286711+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_2.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to biology lab.",
+    "Object labels were normalized to pipette and petri dish."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 0,
+    "p2": 0
+  }
+}

0509_3_tweezers_weight_balance/README.md

@@ -0,0 +1,63 @@
+# 0509_3_tweezers_weight_balance Dataset
+
+This package contains the `0509_3` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using tweezers to place weights on a balance
+- Environment: `physics lab`
+- Object: `tweezers and weights`
+- Split: `train`
+- Annotated episodes: 112
+- Annotated segments: 439
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `holding`
+- `weighing sample`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_3.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to physics lab.
+- Object labels were normalized to tweezers and weights.
+
+## Folder Structure
+
+- `raw/lerobot/0509_3/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:04:30.189054+00:00
+- Removed raw episodes: 1
+- Removed annotated segments: 1
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 439.
+- Raw episodes after revised cleanup: 112.
+- Removed no-valid-segment episodes: 73.
+

0509_3_tweezers_weight_balance/dataset_metadata.json

@@ -0,0 +1,88 @@
+{
+  "id": "0509_3_tweezers_weight_balance",
+  "raw_dataset_id": "0509_3",
+  "task": "using tweezers to place weights on a balance",
+  "environment": "physics lab",
+  "object": "tweezers and weights",
+  "actions": [
+    "picking up",
+    "holding",
+    "weighing sample",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 108,
+    "holding": 110,
+    "weighing sample": 112,
+    "placing": 109
+  },
+  "split": "train",
+  "annotated_segments": 439,
+  "annotated_episodes": 112,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0509_3",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0509\\export_0509_3",
+  "package_created_at": "2026-05-27T07:13:13.382208+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_3.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to physics lab.",
+    "Object labels were normalized to tweezers and weights.",
+    "Post-cleanup 2026-05-28T06:04:26.922612+00:00: removed 1 raw episodes and 1 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 439,
+    "p2": 0
+  },
+  "object_counts": {
+    "tweezers and weights": 439
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 438,
+    "Tip Pinch": 1
+  },
+  "environment_counts": {
+    "physics lab": 439
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:04:26.922612+00:00",
+    "removed_episode_count": 1,
+    "removed_segment_count": 1,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "raw_removed_episodes": [
+    73
+  ],
+  "raw_removed_episode_count": 1,
+  "raw_available_episode_ranges": [
+    "0-72, 74-112"
+  ],
+  "raw_episode_count": 112,
+  "raw_total_frames": 43220,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T08:53:58.519863+00:00",
+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
+    "restored_valid_segments": 0,
+    "restored_raw_episode_count": 112,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000073_s000299"
+    ],
+    "no_valid_segment_episodes_removed": [
+      73
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0509_4_tweezers_weight_balance/README.md

@@ -0,0 +1,64 @@
+# 0509_4_tweezers_weight_balance Dataset
+
+This package contains the `0509_4` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using tweezers to place weights on a balance
+- Environment: `physics lab`
+- Object: `tweezers and weights`
+- Split: `train`
+- Annotated episodes: 101
+- Annotated segments: 385
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `weighing sample`
+- `placing`
+- `holding`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_4.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to physics lab.
+- Object labels were normalized to tweezers and weights.
+- The Chinese source action label 放置镊子 was normalized to placing in the package copy.
+
+## Folder Structure
+
+- `raw/lerobot/0509_4/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:05:26.317721+00:00
+- Removed raw episodes: 1
+- Removed annotated segments: 4
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 389.
+- Raw episodes after revised cleanup: 102.
+- Removed no-valid-segment episodes: none.
+

0509_4_tweezers_weight_balance/dataset_metadata.json

@@ -0,0 +1,82 @@
+{
+  "id": "0509_4_tweezers_weight_balance",
+  "raw_dataset_id": "0509_4",
+  "task": "using tweezers to place weights on a balance",
+  "environment": "physics lab",
+  "object": "tweezers and weights",
+  "actions": [
+    "picking up",
+    "weighing sample",
+    "placing",
+    "holding"
+  ],
+  "action_counts": {
+    "picking up": 96,
+    "weighing sample": 90,
+    "placing": 102,
+    "holding": 101
+  },
+  "split": "train",
+  "annotated_segments": 389,
+  "annotated_episodes": 102,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0509_4",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0509\\export_0509_4",
+  "package_created_at": "2026-05-27T07:15:01.694419+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_4.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to physics lab.",
+    "Object labels were normalized to tweezers and weights.",
+    "The Chinese source action label 放置镊子 was normalized to placing in the package copy.",
+    "Post-cleanup 2026-05-28T06:05:24.907226+00:00: removed 1 raw episodes and 4 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 389,
+    "p2": 0
+  },
+  "object_counts": {
+    "tweezers and weights": 389
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 389
+  },
+  "environment_counts": {
+    "physics lab": 389
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:05:24.907226+00:00",
+    "removed_episode_count": 1,
+    "removed_segment_count": 4,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "raw_removed_episodes": [],
+  "raw_removed_episode_count": 0,
+  "raw_available_episode_ranges": [
+    "0-101"
+  ],
+  "raw_episode_count": 102,
+  "raw_total_frames": 48260,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T08:55:15.609313+00:00",
+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
+    "restored_valid_segments": 4,
+    "restored_raw_episode_count": 102,
+    "explicit_invalid_segment_ids_removed": [],
+    "no_valid_segment_episodes_removed": [],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0509_4_vacuum_pen_and_terminal_wiring/README.md

@@ -0,0 +1,98 @@
+# rimbot_0509_4_vacuum_pen_and_terminal_wiring Dataset
+
+This package contains the `0509_4` rimbot tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: vacuum pickup pen chip placement and terminal block wiring
+- Environment: `electronics workbench`
+- Object: `varies by episode range`
+- Split: `train`
+- Raw episodes: 67
+- Annotated episodes: 67
+- Annotated segments: 438
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Task Ranges
+
+- Episodes 0-62 (dataset indices 0-62): starting an electric vacuum pickup pen, picking up a chip, and placing it on a circuit board; object `vacuum pickup pen, vacuum pickup controller, chip, and circuit board`.
+- Episodes 63-78 (dataset indices 63-78): using a screwdriver to install and secure a wire into a terminal block; object `screwdriver, terminal block, and wire`.
+
+## Episode Coverage
+
+- Annotated episode ranges: 0-17, 19-44, 46-71, 73-76, 78
+- Missing annotated episode count: 4
+- Missing annotated episode ranges: 18, 45, 72, 77
+- Missing annotated episodes: 18, 45, 72, 77
+- Excluded episode ranges: none
+- Excluded episodes: none
+
+- Raw package episode ranges: 0-17, 19-44, 46-71, 73-76, 78
+- Raw removed episode count: 4
+- Raw removed episode ranges: 18, 45, 72, 77
+- Raw episode indices are intentionally sparse and were not renumbered.
+
+## Labels
+
+Actions:
+
+- `picking up`: 69
+- `activating suction pen`: 239
+- `suction picking chip`: 114
+- `tightening screw`: 11
+- `placing wire`: 10
+- `checking wire connection`: 3
+
+Objects:
+
+- `vacuum pickup pen, vacuum pickup controller, chip, and circuit board`: 411
+- `screwdriver, terminal block, and wire`: 35
+
+## Processing Notes
+
+- Unannotated episodes were removed from the packaged raw LeRobot copy; original source datasets were not modified.
+- The raw LeRobot dataset copy has unannotated/invalid episodes removed under raw/lerobot/0509_4.
+- Labels were normalized to English in this Hugging Face package only.
+- Missing annotated episodes and excluded episodes are recorded in coverage and README.md.
+- The two source annotation releases were merged. Duplicate source segment ids from export_0509_4_2 were skipped where export_0509_4 already had the same id.
+
+Legacy/source missing segment files before package normalization:
+
+- none
+
+Skipped duplicate source segment ids: export_0509_4_2:rbt_ep000000_s000001, export_0509_4_2:rbt_ep000000_s000002, export_0509_4_2:rbt_ep000000_s000003, export_0509_4_2:rbt_ep000000_s000004, export_0509_4_2:rbt_ep000000_s000005, export_0509_4_2:rbt_ep000000_s000006, export_0509_4_2:rbt_ep000000_s000007
+
+## Folder Structure
+
+- `raw/lerobot/0509_4/`: LeRobot dataset copy with unannotated/invalid episodes removed; episode indices remain sparse.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:15:52.022768+00:00
+- Removed raw episodes: 8
+- Removed annotated segments: 8
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 438.
+- Raw episodes after revised cleanup: 67.
+- Removed no-valid-segment episodes: 49, 69-71, 73-75, 78.
+

0509_4_vacuum_pen_and_terminal_wiring/dataset_metadata.json

@@ -0,0 +1,334 @@
+{
+  "id": "rimbot_0509_4_vacuum_pen_and_terminal_wiring",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0509_4",
+  "annotated_dataset_id": "0509_4",
+  "task": "vacuum pickup pen chip placement and terminal block wiring",
+  "environment": "electronics workbench",
+  "object": "varies by episode range",
+  "objects": [
+    "vacuum pickup pen, vacuum pickup controller, chip, and circuit board",
+    "screwdriver, terminal block, and wire"
+  ],
+  "actions": [
+    "picking up",
+    "activating suction pen",
+    "suction picking chip",
+    "tightening screw",
+    "placing wire",
+    "checking wire connection"
+  ],
+  "action_counts": {
+    "picking up": 61,
+    "activating suction pen": 239,
+    "suction picking chip": 114,
+    "tightening screw": 11,
+    "placing wire": 10,
+    "checking wire connection": 3
+  },
+  "object_counts": {
+    "vacuum pickup pen, vacuum pickup controller, chip, and circuit board": 410,
+    "screwdriver, terminal block, and wire": 28
+  },
+  "split": "train",
+  "annotated_segments": 438,
+  "annotated_episodes": 67,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0509_4",
+  "source_annotated_release": [
+    "E:\\annotated_data\\rimbot_export_0509_4\\export_0509_4",
+    "E:\\annotated_data\\rimbot_export_0509_4\\export_0509_4_2"
+  ],
+  "package_created_at": "2026-05-28T03:00:22.020081+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_4.",
+    "Labels were normalized to English in this Hugging Face package only.",
+    "Missing annotated episodes and excluded episodes are recorded in coverage and README.md.",
+    "The two source annotation releases were merged. Duplicate source segment ids from export_0509_4_2 were skipped where export_0509_4 already had the same id.",
+    "Unannotated episodes were removed from the packaged raw LeRobot copy; the original source dataset was not modified and episode indices remain sparse.",
+    "Post-cleanup 2026-05-28T06:15:51.129813+00:00: removed 8 raw episodes and 8 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 438,
+    "p2": 0
+  },
+  "task_ranges": [
+    {
+      "episode_start": 0,
+      "episode_end": 62,
+      "dataset_episode_start": 0,
+      "dataset_episode_end": 62,
+      "task": "starting an electric vacuum pickup pen, picking up a chip, and placing it on a circuit board",
+      "environment": "electronics workbench",
+      "object": "vacuum pickup pen, vacuum pickup controller, chip, and circuit board",
+      "actions": [
+        "activating suction pen",
+        "moving",
+        "picking up",
+        "placing chip",
+        "suction picking chip"
+      ]
+    },
+    {
+      "episode_start": 63,
+      "episode_end": 78,
+      "dataset_episode_start": 63,
+      "dataset_episode_end": 78,
+      "task": "using a screwdriver to install and secure a wire into a terminal block",
+      "environment": "electronics workbench",
+      "object": "screwdriver, terminal block, and wire",
+      "actions": [
+        "checking wire connection",
+        "moving",
+        "picking up",
+        "placing wire",
+        "positioning wire",
+        "tightening screw"
+      ]
+    }
+  ],
+  "coverage": {
+    "raw_total_episodes": 79,
+    "annotated_episode_count": 67,
+    "annotated_episodes": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      46,
+      47,
+      48,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      76
+    ],
+    "annotated_episode_ranges": [
+      "0-17",
+      "19-44",
+      "46-48",
+      "50-68",
+      "76"
+    ],
+    "missing_episode_count": 4,
+    "missing_episodes": [
+      18,
+      45,
+      72,
+      77
+    ],
+    "missing_episode_ranges": [
+      "18",
+      "45",
+      "72",
+      "77"
+    ],
+    "excluded_episode_count": 8,
+    "excluded_episodes": [
+      49,
+      69,
+      70,
+      71,
+      73,
+      74,
+      75,
+      78
+    ],
+    "excluded_episode_ranges": [
+      "49",
+      "69-71",
+      "73-75",
+      "78"
+    ],
+    "raw_source_episode_count": 79,
+    "raw_available_episode_count": 75,
+    "raw_available_episode_ranges": [
+      "0-17",
+      "19-44",
+      "46-48",
+      "50-68",
+      "76"
+    ],
+    "raw_removed_episodes": [
+      18,
+      45,
+      49,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      77,
+      78
+    ],
+    "raw_removed_episode_count": 12,
+    "raw_sparse_episode_indices": true
+  },
+  "legacy_source_missing_segment_files": {},
+  "source_validation_summaries": [
+    {
+      "source": "E:\\annotated_data\\rimbot_export_0509_4\\export_0509_4",
+      "summary": {
+        "p0": 2,
+        "p1": 0,
+        "p2": 0
+      },
+      "segment_count": 121
+    },
+    {
+      "source": "E:\\annotated_data\\rimbot_export_0509_4\\export_0509_4_2",
+      "summary": {
+        "p0": 50,
+        "p1": 10,
+        "p2": 0
+      },
+      "segment_count": 332
+    }
+  ],
+  "skipped_duplicate_source_ids": [
+    "export_0509_4_2:rbt_ep000000_s000001",
+    "export_0509_4_2:rbt_ep000000_s000002",
+    "export_0509_4_2:rbt_ep000000_s000003",
+    "export_0509_4_2:rbt_ep000000_s000004",
+    "export_0509_4_2:rbt_ep000000_s000005",
+    "export_0509_4_2:rbt_ep000000_s000006",
+    "export_0509_4_2:rbt_ep000000_s000007"
+  ],
+  "raw_episode_count": 67,
+  "raw_source_episode_count": 79,
+  "raw_removed_episodes": [
+    49,
+    69,
+    70,
+    71,
+    73,
+    74,
+    75,
+    78
+  ],
+  "raw_removed_episode_count": 8,
+  "raw_available_episode_ranges": [
+    "0-17, 19-44, 46-48, 50-68, 76"
+  ],
+  "raw_sparse_episode_indices": true,
+  "raw_total_frames": 80241,
+  "raw_source_total_frames": 113023,
+  "grasp_type_counts": {
+    "Prismatic 3 Finger": 181,
+    "推动": 4,
+    "双指推动": 5,
+    "单指推动": 105,
+    "Small Diameter": 27,
+    "双指旋转": 110,
+    "单子推动": 3,
+    "小直径抓握单指推动": 1,
+    "Prismatic 2 Finger": 2
+  },
+  "environment_counts": {
+    "electronics workbench": 438
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:15:51.129813+00:00",
+    "removed_episode_count": 8,
+    "removed_segment_count": 8,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:48:46.135959+00:00",
+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
+    "restored_valid_segments": 0,
+    "restored_raw_episode_count": 67,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000049_s000321",
+      "rbt_ep000069_s000439",
+      "rbt_ep000070_s000440",
+      "rbt_ep000071_s000441",
+      "rbt_ep000073_s000442",
+      "rbt_ep000074_s000443",
+      "rbt_ep000075_s000444",
+      "rbt_ep000078_s000446"
+    ],
+    "no_valid_segment_episodes_removed": [
+      49,
+      69,
+      70,
+      71,
+      73,
+      74,
+      75,
+      78
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0509_5_spatula_powder_weighing/README.md

@@ -0,0 +1,45 @@
+# 0509_5_spatula_powder_weighing Dataset
+
+This package contains the `0509_5` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using a lab spatula to place solid powder on a balance
+- Environment: `physics lab`
+- Object: `solid powder container and lab spatula`
+- Split: `train`
+- Annotated episodes: 87
+- Annotated segments: 434
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `weighing sample`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_5.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to physics lab.
+- Object labels were normalized to solid powder container and lab spatula.
+
+## Folder Structure
+
+- `raw/lerobot/0509_5/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.

0509_5_spatula_powder_weighing/dataset_metadata.json

@@ -0,0 +1,40 @@
+{
+  "id": "0509_5_spatula_powder_weighing",
+  "raw_dataset_id": "0509_5",
+  "task": "using a lab spatula to place solid powder on a balance",
+  "environment": "physics lab",
+  "object": "solid powder container and lab spatula",
+  "actions": [
+    "picking up",
+    "weighing sample",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 86,
+    "weighing sample": 265,
+    "placing": 83
+  },
+  "split": "train",
+  "annotated_segments": 434,
+  "annotated_episodes": 87,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0509_5",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0509\\export_0509_5",
+  "package_created_at": "2026-05-27T07:16:51.184245+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_5.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to physics lab.",
+    "Object labels were normalized to solid powder container and lab spatula."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 0,
+    "p2": 0
+  }
+}

0509_5_vacuum_pen_and_terminal_wiring/README.md

@@ -0,0 +1,103 @@
+# rimbot_0509_5_vacuum_pen_and_terminal_wiring Dataset
+
+This package contains the `0509_5` rimbot tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: vacuum pickup pen chip placement and terminal block wiring
+- Environment: `electronics workbench`
+- Object: `varies by episode range`
+- Split: `train`
+- Raw episodes: 207
+- Annotated episodes: 207
+- Annotated segments: 1246
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Task Ranges
+
+- Episodes 1-237 (dataset indices 0-237): starting an electric vacuum pickup pen, picking up a chip, and placing it on a circuit board; object `vacuum pickup pen, vacuum pickup controller, chip, and circuit board`.
+- Episodes 238-287 (dataset indices 238-287): using a screwdriver to install and secure a wire into a terminal block; object `screwdriver, terminal block, and wire`.
+
+## Episode Coverage
+
+- Annotated episode ranges: 0-5, 7-15, 17-28, 45, 48-50, 52-94, 96-221, 223-224, 226-229, 231-280, 282-287
+- Missing annotated episode count: 25
+- Missing annotated episode ranges: 6, 16, 29-44, 46-47, 51, 95, 222, 225, 230
+- Missing annotated episodes: 6, 16, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 46, 47, 51, 95, 222, 225, 230
+- Excluded episode ranges: 281
+- Excluded episodes: 281
+- Raw package episode ranges: 0-280, 282-287
+- Raw removed episodes: 281
+- Raw episode indices are intentionally sparse; episodes 282-287 were not renumbered.
+
+- Raw package episode ranges: 0-5, 7-15, 17-28, 45, 48-50, 52-94, 96-221, 223-224, 226-229, 231-280, 282-287
+- Raw removed episode count: 26
+- Raw removed episode ranges: 6, 16, 29-44, 46-47, 51, 95, 222, 225, 230, 281
+- Raw episode indices are intentionally sparse and were not renumbered.
+
+## Labels
+
+Actions:
+
+- `picking up`: 394
+- `activating suction pen`: 287
+- `placing chip`: 132
+- `suction picking chip`: 299
+- `tightening screw`: 112
+- `placing wire`: 77
+- `checking wire connection`: 33
+
+Objects:
+
+- `vacuum pickup pen, vacuum pickup controller, chip, and circuit board`: 1102
+- `screwdriver, terminal block, and wire`: 232
+
+## Processing Notes
+
+- Unannotated episodes were removed from the packaged raw LeRobot copy; original source datasets were not modified.
+- The raw LeRobot dataset copy excludes unannotated/invalid episodes by user request; the original source dataset was not modified.
+- Labels were normalized to English in this Hugging Face package only.
+- Missing annotated episodes and excluded episodes are recorded in coverage and README.md.
+- The source annotation was exported in twelve 24-episode split releases. Local episode indices were offset back to global raw dataset episode indices.
+- Episode 281 was excluded from both annotated segments and the packaged raw LeRobot copy as requested.
+
+Legacy/source missing segment files before package normalization:
+
+- none
+
+Skipped duplicate source segment ids: none
+
+## Folder Structure
+
+- `raw/lerobot/0509_5/`: LeRobot dataset copy with invalid episodes removed; episode indices remain sparse.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:17:21.090352+00:00
+- Removed raw episodes: 55
+- Removed annotated segments: 88
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 1278.
+- Raw episodes after revised cleanup: 214.
+- Removed no-valid-segment episodes: 0, 9-10, 12-15, 18, 20-28, 45, 48, 126-136, 206, 217-221, 223-224, 226, 240-243, 245-247, 249-250.
+

0509_5_vacuum_pen_and_terminal_wiring/dataset_metadata.json

@@ -0,0 +1,865 @@
+{
+  "id": "rimbot_0509_5_vacuum_pen_and_terminal_wiring",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0509_5",
+  "annotated_dataset_id": "0509_5",
+  "task": "vacuum pickup pen chip placement and terminal block wiring",
+  "environment": "electronics workbench",
+  "object": "varies by episode range",
+  "objects": [
+    "vacuum pickup pen, vacuum pickup controller, chip, and circuit board",
+    "screwdriver, terminal block, and wire"
+  ],
+  "actions": [
+    "activating suction pen",
+    "picking up",
+    "placing chip",
+    "suction picking chip",
+    "tightening screw",
+    "placing wire",
+    "checking wire connection"
+  ],
+  "action_counts": {
+    "activating suction pen": 287,
+    "picking up": 338,
+    "placing chip": 132,
+    "suction picking chip": 299,
+    "tightening screw": 112,
+    "placing wire": 77,
+    "checking wire connection": 33
+  },
+  "object_counts": {
+    "vacuum pickup pen, vacuum pickup controller, chip, and circuit board": 1055,
+    "screwdriver, terminal block, and wire": 223
+  },
+  "split": "train",
+  "annotated_segments": 1278,
+  "annotated_episodes": 214,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0509_5",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0509_5\\export_0509_5",
+  "package_created_at": "2026-05-28T03:13:59.125807+00:00",
+  "processing_notes": [
+    "The packaged raw LeRobot copy excludes episode 281 by user request; the original source dataset was not modified.",
+    "Labels were normalized to English in this Hugging Face package only.",
+    "Missing annotated episodes and excluded episodes are recorded in coverage and README.md.",
+    "The source annotation was exported in twelve 24-episode split releases. Local episode indices were offset back to global raw dataset episode indices.",
+    "Episode 281 was excluded from the Hugging Face package as requested.",
+    "Raw episode 281 was removed from raw/lerobot/0509_5; raw episode indices remain sparse so annotated global episode ids stay aligned.",
+    "Unannotated episodes were removed from the packaged raw LeRobot copy; the original source dataset was not modified and episode indices remain sparse.",
+    "Post-cleanup 2026-05-28T06:17:16.763062+00:00: removed 55 raw episodes and 88 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
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+  },
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+      "environment": "electronics workbench",
+      "object": "vacuum pickup pen, vacuum pickup controller, chip, and circuit board",
+      "actions": [
+        "activating suction pen",
+        "moving",
+        "picking up",
+        "placing chip",
+        "suction picking chip"
+      ]
+    },
+    {
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+      "environment": "electronics workbench",
+      "object": "screwdriver, terminal block, and wire",
+      "actions": [
+        "checking wire connection",
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+        "picking up",
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+        "tightening screw"
+      ]
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+      "validation_p0"
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+  },
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:53:24.081863+00:00",
+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
+    "restored_valid_segments": 32,
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+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0509_6_spatula_powder_weighing/README.md

@@ -0,0 +1,45 @@
+# 0509_6_spatula_powder_weighing Dataset
+
+This package contains the `0509_6` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using a lab spatula to place solid powder on a balance
+- Environment: `physics lab`
+- Object: `solid powder container and lab spatula`
+- Split: `train`
+- Annotated episodes: 10
+- Annotated segments: 48
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `weighing sample`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_6.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to physics lab.
+- Object labels were normalized to solid powder container and lab spatula.
+
+## Folder Structure
+
+- `raw/lerobot/0509_6/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.

0509_6_spatula_powder_weighing/checksums.sha256

@@ -0,0 +1,255 @@
+fec85de6519284695541aa46bd3f53787458d4d3e68d5e1f05d99c85e93daf9f  annotated/annotations.jsonl
+3c24b98b2b5719c71c1ce532bdb8568d171d3789149a360db272bd5b30bf43c2  annotated/checksums.sha256
+ceb9b8ed2a29587cc3e6669f3c10406811f4856df9ce39d86c3bb73dbddb0579  annotated/manifest.json
+ad1c64b6b24ac155552163c607e14e3542d4a81c113ba444a7c8893db6ae4870  annotated/release_report.json
+9a71cc0987130727c4b67cc5aa9b7fa14e6de5be4a022cdad4d6b3ad215fb101  annotated/schema.json
+2bbe0713350de33a64de37440eaf1df385360f30e3da19ac6207908894eccecd  annotated/segments/train/rbt_ep000000_s000001/data.parquet
+433009724b0a49b47a9d926753853fe310c6057438096522e6b9618be307dca1  annotated/segments/train/rbt_ep000000_s000001/ego.mp4
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+bcc6f916013ddff8b94c5d209ca2d96cca3b4d29106741d28ab5e9d2dde75574  README.md

0509_6_spatula_powder_weighing/dataset_metadata.json

@@ -0,0 +1,40 @@
+{
+  "id": "0509_6_spatula_powder_weighing",
+  "raw_dataset_id": "0509_6",
+  "task": "using a lab spatula to place solid powder on a balance",
+  "environment": "physics lab",
+  "object": "solid powder container and lab spatula",
+  "actions": [
+    "picking up",
+    "weighing sample",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 9,
+    "weighing sample": 29,
+    "placing": 10
+  },
+  "split": "train",
+  "annotated_segments": 48,
+  "annotated_episodes": 10,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0509_6",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0509\\export_0509_6",
+  "package_created_at": "2026-05-27T07:17:29.322975+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0509_6.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to physics lab.",
+    "Object labels were normalized to solid powder container and lab spatula."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 0,
+    "p2": 0
+  }
+}

0510_1_spatula_powder_weighing/README.md

@@ -0,0 +1,65 @@
+# 0510_1_spatula_powder_weighing Dataset
+
+This package contains the `0510_1` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using a lab spatula to place solid powder on a balance
+- Environment: `physics lab`
+- Object: `solid powder container and lab spatula`
+- Split: `train`
+- Annotated episodes: 75
+- Annotated segments: 595
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `scooping powder`
+- `placing powder on balance`
+- `placing`
+- `pulling`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0510_1.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to physics lab.
+- Object labels were normalized to solid powder container and lab spatula.
+- Chinese action labels in the source export were translated to English in the package copy.
+
+## Folder Structure
+
+- `raw/lerobot/0510_1/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:06:11.731608+00:00
+- Removed raw episodes: 1
+- Removed annotated segments: 1
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 595.
+- Raw episodes after revised cleanup: 75.
+- Removed no-valid-segment episodes: 14.
+

0510_1_spatula_powder_weighing/dataset_metadata.json

@@ -0,0 +1,91 @@
+{
+  "id": "0510_1_spatula_powder_weighing",
+  "raw_dataset_id": "0510_1",
+  "task": "using a lab spatula to place solid powder on a balance",
+  "environment": "physics lab",
+  "object": "solid powder container and lab spatula",
+  "actions": [
+    "picking up",
+    "scooping powder",
+    "placing powder on balance",
+    "placing",
+    "pulling"
+  ],
+  "action_counts": {
+    "picking up": 73,
+    "scooping powder": 224,
+    "placing powder on balance": 226,
+    "placing": 71,
+    "pulling": 1
+  },
+  "split": "train",
+  "annotated_segments": 595,
+  "annotated_episodes": 75,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0510_1",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0510\\export_0510_1",
+  "package_created_at": "2026-05-27T07:48:24.603778+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0510_1.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to physics lab.",
+    "Object labels were normalized to solid powder container and lab spatula.",
+    "Chinese action labels in the source export were translated to English in the package copy.",
+    "Post-cleanup 2026-05-28T06:06:10.789558+00:00: removed 1 raw episodes and 1 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 595,
+    "p2": 0
+  },
+  "object_counts": {
+    "solid powder container and lab spatula": 595
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 594,
+    "Tip Pinch": 1
+  },
+  "environment_counts": {
+    "physics lab": 595
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:06:10.789558+00:00",
+    "removed_episode_count": 1,
+    "removed_segment_count": 1,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "raw_removed_episodes": [
+    14
+  ],
+  "raw_removed_episode_count": 1,
+  "raw_available_episode_ranges": [
+    "0-12, 15-76"
+  ],
+  "raw_episode_count": 75,
+  "raw_total_frames": 34183,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T08:56:20.064197+00:00",
+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
+    "restored_valid_segments": 0,
+    "restored_raw_episode_count": 75,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000014_s000049"
+    ],
+    "no_valid_segment_episodes_removed": [
+      14
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0510_2_solid_reagent_test_tube_transfer/README.md

@@ -0,0 +1,65 @@
+# 0510_2_solid_reagent_test_tube_transfer Dataset
+
+This package contains the `0510_2` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using tweezers to place a solid reagent block at a test tube opening and stand the test tube upright
+- Environment: `chemistry lab`
+- Object: `solid reagent block, tweezers, and test tube`
+- Split: `train`
+- Annotated episodes: 98
+- Annotated segments: 490
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up test tube`
+- `picking up tweezers`
+- `placing solid reagent into test tube`
+- `placing test tube`
+- `placing tweezers`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0510_2.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to chemistry lab.
+- Object labels were normalized to solid reagent block, tweezers, and test tube.
+- Chinese action labels in the source export were translated to English in the package copy.
+
+## Folder Structure
+
+- `raw/lerobot/0510_2/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:06:58.807014+00:00
+- Removed raw episodes: 2
+- Removed annotated segments: 10
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 498.
+- Raw episodes after revised cleanup: 100.
+- Removed no-valid-segment episodes: none.
+

0510_2_solid_reagent_test_tube_transfer/dataset_metadata.json

@@ -0,0 +1,87 @@
+{
+  "id": "0510_2_solid_reagent_test_tube_transfer",
+  "raw_dataset_id": "0510_2",
+  "task": "using tweezers to place a solid reagent block at a test tube opening and stand the test tube upright",
+  "environment": "chemistry lab",
+  "object": "solid reagent block, tweezers, and test tube",
+  "actions": [
+    "picking up test tube",
+    "picking up tweezers",
+    "placing solid reagent into test tube",
+    "placing test tube",
+    "placing tweezers"
+  ],
+  "action_counts": {
+    "picking up test tube": 101,
+    "picking up tweezers": 99,
+    "placing solid reagent into test tube": 100,
+    "placing test tube": 99,
+    "placing tweezers": 99
+  },
+  "split": "train",
+  "annotated_segments": 498,
+  "annotated_episodes": 100,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0510_2",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0510\\export_0510_2",
+  "package_created_at": "2026-05-27T07:50:02.927955+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0510_2.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to chemistry lab.",
+    "Object labels were normalized to solid reagent block, tweezers, and test tube.",
+    "Chinese action labels in the source export were translated to English in the package copy.",
+    "Post-cleanup 2026-05-28T06:06:58.067540+00:00: removed 2 raw episodes and 10 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 498,
+    "p2": 0
+  },
+  "object_counts": {
+    "solid reagent block, tweezers, and test tube": 498
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 498
+  },
+  "environment_counts": {
+    "chemistry lab": 498
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:06:58.067540+00:00",
+    "removed_episode_count": 2,
+    "removed_segment_count": 10,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "raw_removed_episodes": [],
+  "raw_removed_episode_count": 0,
+  "raw_available_episode_ranges": [
+    "0-99"
+  ],
+  "raw_episode_count": 100,
+  "raw_total_frames": 46110,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T08:57:31.570171+00:00",
+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
+    "restored_valid_segments": 8,
+    "restored_raw_episode_count": 100,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000029_s000155",
+      "rbt_ep000033_s000175"
+    ],
+    "no_valid_segment_episodes_removed": [],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0510_3_solid_reagent_test_tube_transfer/README.md

@@ -0,0 +1,68 @@
+# 0510_3_solid_reagent_test_tube_transfer Dataset
+
+This package contains the `0510_3` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using tweezers to place a solid reagent block at a test tube opening and stand the test tube upright
+- Environment: `chemistry lab`
+- Object: `solid reagent block, tweezers, and test tube`
+- Split: `train`
+- Annotated episodes: 115
+- Annotated segments: 573
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up test tube`
+- `picking up tweezers`
+- `placing solid reagent into test tube`
+- `placing test tube`
+- `placing tweezers`
+- `placing`
+- `picking up`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0510_3.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to chemistry lab.
+- Object labels were normalized to solid reagent block, tweezers, and test tube.
+- The source annotation exports export_0510_3a, export_0510_3b, and export_0510_3c were merged because their segment ids do not overlap and they share raw dataset 0510_3.
+- Chinese action labels in the source exports were translated to English in the package copy.
+
+## Folder Structure
+
+- `raw/lerobot/0510_3/`: original LeRobot dataset, preserved without modification.
+- `annotated/`: cleaned annotation package with JSONL labels, schema, manifest, validation report, checksums, and per-segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Modalities
+
+- `ego.mp4`
+- `side.mp4`
+- `data.parquet`
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:07:47.435281+00:00
+- Removed raw episodes: 4
+- Removed annotated segments: 4
+- Removal criteria: QR code out of view / deviated / invalid notes, explicit invalid data/video notes, and P0 missing annotated export files.
+- Removed files were moved outside this Hugging Face package to the quarantine directory recorded in the cleanup report.
+## Revised Cleanup 2026-05-28
+
+- P0 segment video export failures are not treated as invalid raw data.
+- Raw episodes are kept when at least one valid segment remains.
+- Explicit invalid data/video or QR-code out-of-view notes remove only the affected segment.
+- Annotated segments after revised cleanup: 573.
+- Raw episodes after revised cleanup: 115.
+- Removed no-valid-segment episodes: 28-29, 36-37.
+