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0507_1_graphics_card_installation/README.md

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+# rimbot_0507_1_graphics_card_installation Dataset
+
+This package contains the `0507_1` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: installing and removing a graphics card
+- Environment: `electronics workbench`
+- Object: `graphics card, motherboard PCIe slot, and power connector`
+- Split: `train`
+- Annotated episodes: 124
+- Annotated segments: 302
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `inserting graphics card`
+- `plugging in power connector`
+- `removing graphics card`
+- `unplugging power connector`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0507.
+- The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.
+- Environment labels were normalized to electronics workbench.
+- Object labels were normalized to graphics card, motherboard PCIe slot, and power connector.
+- The source action labels use memory-module wording, but this package follows the confirmed task semantics: graphics-card installation and removal.
+- Chinese action labels in the source export were normalized to English in the package copy.
+
+## Folder Structure
+
+- `raw/lerobot/0507/`: 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: 2026-05-28T06:11:58.786960+00:00
+- Removed raw episodes: 11
+- Removed annotated segments: 33
+- 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: 335.
+- Raw episodes after revised cleanup: 135.
+- Removed no-valid-segment episodes: none.
+

0507_1_graphics_card_installation/dataset_metadata.json

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+{
+  "id": "rimbot_0507_1_graphics_card_installation",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0507",
+  "annotated_dataset_id": "0507_1",
+  "task": "installing and removing a graphics card",
+  "environment": "electronics workbench",
+  "object": "graphics card, motherboard PCIe slot, and power connector",
+  "actions": [
+    "inserting graphics card",
+    "plugging in power connector",
+    "removing graphics card",
+    "unplugging power connector"
+  ],
+  "action_counts": {
+    "inserting graphics card": 135,
+    "plugging in power connector": 68,
+    "removing graphics card": 66,
+    "unplugging power connector": 66
+  },
+  "split": "train",
+  "annotated_segments": 335,
+  "annotated_episodes": 135,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0507",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0507\\export_0507_1",
+  "package_created_at": "2026-05-27T09:02:35.325752+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0507.",
+    "The annotated export is copied from the prepared source export and normalized only inside this Hugging Face package.",
+    "Environment labels were normalized to electronics workbench.",
+    "Object labels were normalized to graphics card, motherboard PCIe slot, and power connector.",
+    "The source action labels use memory-module wording, but this package follows the confirmed task semantics: graphics-card installation and removal.",
+    "Chinese action labels in the source export were normalized to English in the package copy.",
+    "Post-cleanup 2026-05-28T06:11:56.654441+00:00: removed 11 raw episodes and 33 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": 335,
+    "p2": 0
+  },
+  "object_counts": {
+    "graphics card, motherboard PCIe slot, and power connector": 335
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 335
+  },
+  "environment_counts": {
+    "electronics workbench": 335
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:11:56.654441+00:00",
+    "removed_episode_count": 11,
+    "removed_segment_count": 33,
+    "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": [
+    "0-134"
+  ],
+  "raw_episode_count": 135,
+  "raw_total_frames": 70231,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:22:08.712777+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": 33,
+    "restored_raw_episode_count": 135,
+    "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"
+  }
+}

0507_2_test_tube_cleaning/README.md

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+# rimbot_0507_2_test_tube_cleaning Dataset
+
+This package contains the `0507_2` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: cleaning a test tube with a test tube brush
+- Environment: `chemistry lab`
+- Object: `test tube and test tube brush`
+- Split: `train`
+- Annotated episodes: 1
+- Annotated segments: 3
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `scrubbing`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0507_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 test tube and test tube brush.
+- Action labels were normalized to coarse-grained English actions: picking up, scrubbing, and placing.
+
+## Folder Structure
+
+- `raw/lerobot/0507_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: 2026-05-28T06:13:23.839272+00:00
+- Removed raw episodes: 35
+- Removed annotated segments: 175
+- 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: 178.
+- Raw episodes after revised cleanup: 36.
+- Removed no-valid-segment episodes: none.
+

0507_2_test_tube_cleaning/dataset_metadata.json

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+{
+  "id": "rimbot_0507_2_test_tube_cleaning",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0507_2",
+  "annotated_dataset_id": "0507_2",
+  "task": "cleaning a test tube with a test tube brush",
+  "environment": "chemistry lab",
+  "object": "test tube and test tube brush",
+  "actions": [
+    "picking up",
+    "scrubbing",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 72,
+    "scrubbing": 35,
+    "placing": 71
+  },
+  "split": "train",
+  "annotated_segments": 178,
+  "annotated_episodes": 36,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0507_2",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0507\\export_0507_2",
+  "package_created_at": "2026-05-27T09:04:40.335258+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0507_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 test tube and test tube brush.",
+    "Action labels were normalized to coarse-grained English actions: picking up, scrubbing, and placing.",
+    "Post-cleanup 2026-05-28T06:13:23.738185+00:00: removed 35 raw episodes and 175 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": 178,
+    "p2": 0
+  },
+  "object_counts": {
+    "test tube and test tube brush": 178
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 178
+  },
+  "environment_counts": {
+    "chemistry lab": 178
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:13:23.738185+00:00",
+    "removed_episode_count": 35,
+    "removed_segment_count": 175,
+    "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": [
+    "0-35"
+  ],
+  "raw_episode_count": 36,
+  "raw_total_frames": 32395,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:31:00.986401+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": 175,
+    "restored_raw_episode_count": 36,
+    "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"
+  }
+}

0507_3_test_tube_cleaning/README.md

@@ -0,0 +1,64 @@
+# rimbot_0507_3_test_tube_cleaning Dataset
+
+This package contains the `0507_3` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: cleaning a test tube with a test tube brush
+- Environment: `chemistry lab`
+- Object: `test tube and test tube brush`
+- Split: `train`
+- Annotated episodes: 26
+- Annotated segments: 104
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `scrubbing`
+- `placing`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0507_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 test tube and test tube brush.
+- Action labels were normalized to coarse-grained English actions: picking up, scrubbing, and placing.
+
+## Folder Structure
+
+- `raw/lerobot/0507_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: 2026-05-28T06:13:27.475346+00:00
+- Removed raw episodes: 35
+- Removed annotated segments: 137
+- 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: 240.
+- Raw episodes after revised cleanup: 60.
+- Removed no-valid-segment episodes: 24.
+

0507_3_test_tube_cleaning/dataset_metadata.json

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+{
+  "id": "rimbot_0507_3_test_tube_cleaning",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0507_3",
+  "annotated_dataset_id": "0507_3",
+  "task": "cleaning a test tube with a test tube brush",
+  "environment": "chemistry lab",
+  "object": "test tube and test tube brush",
+  "actions": [
+    "picking up",
+    "scrubbing",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 120,
+    "scrubbing": 60,
+    "placing": 60
+  },
+  "split": "train",
+  "annotated_segments": 240,
+  "annotated_episodes": 60,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0507_3",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0507\\export_0507_3",
+  "package_created_at": "2026-05-27T09:05:47.273548+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0507_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 test tube and test tube brush.",
+    "Action labels were normalized to coarse-grained English actions: picking up, scrubbing, and placing.",
+    "Post-cleanup 2026-05-28T06:13:26.818097+00:00: removed 35 raw episodes and 137 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": 240,
+    "p2": 0
+  },
+  "object_counts": {
+    "test tube and test tube brush": 240
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 239,
+    "Tip Pinch": 1
+  },
+  "environment_counts": {
+    "chemistry lab": 240
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:13:26.818097+00:00",
+    "removed_episode_count": 35,
+    "removed_segment_count": 137,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "raw_removed_episodes": [
+    24
+  ],
+  "raw_removed_episode_count": 1,
+  "raw_available_episode_ranges": [
+    "0-23, 25-60"
+  ],
+  "raw_episode_count": 60,
+  "raw_total_frames": 32661,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:35:55.695041+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": 136,
+    "restored_raw_episode_count": 60,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000024_s000097"
+    ],
+    "no_valid_segment_episodes_removed": [
+      24
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0507_4_test_tube_cleaning/README.md

@@ -0,0 +1,70 @@
+# rimbot_0507_4_test_tube_cleaning Dataset
+
+This package contains the `0507_4` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: cleaning a test tube with a test tube brush
+- Environment: `chemistry lab`
+- Object: `test tube and test tube brush`
+- Split: `train`
+- Raw episodes: 46
+- Raw frames: 51761
+- Annotated episodes: 46
+- Annotated segments: 217
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Coverage
+
+- Annotated episode ranges: 0-45
+- Missing annotated episode count: 0
+- Raw removed episode count: 0
+- Restored from quarantine: yes
+
+## Labels
+
+Actions:
+
+- `picking up`: 91
+- `scrubbing`: 45
+- `placing`: 81
+
+Objects:
+
+- `test tube and test tube brush`: 217
+
+## Restoration Notes
+
+- Previous cleanup removed all raw episodes in this package because candidate annotated segments had P0 video export failures.
+- Raw episode files were copied back from `E:\huggingface_data_removed_20260528_140418`.
+- Each annotated segment was regenerated from raw data using its `start_frame` and `end_frame`.
+- `ego.mp4` and `side.mp4` were written with OpenCV `mp4v`; `data.parquet` was sliced from the raw episode parquet.
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0507_4.
+- 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 test tube and test tube brush.
+- Action labels were normalized to coarse-grained English actions: picking up, scrubbing, and placing.
+- Restored after review: previous episode-level cleanup was reversed because raw data was readable; segment ego/side videos and tactile parquet files were regenerated from raw start/end frames.
+
+## Folder Structure
+
+- `raw/lerobot/0507_4/`: restored LeRobot raw dataset copy.
+- `annotated/`: restored annotation package with regenerated segment files.
+- `dataset_metadata.json`: dataset-level metadata for this package.
+- `checksums.sha256`: package-level checksums for integrity verification.
+
+## Integrity
+
+Use `checksums.sha256` at the package root to verify the full package. Use `annotated/checksums.sha256` to verify only the annotated subset.
+## 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: 216.
+- Raw episodes after revised cleanup: 45.
+- Removed no-valid-segment episodes: 45.
+

0507_4_test_tube_cleaning/dataset_metadata.json

@@ -0,0 +1,93 @@
+{
+  "id": "rimbot_0507_4_test_tube_cleaning",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0507_4",
+  "annotated_dataset_id": "0507_4",
+  "task": "cleaning a test tube with a test tube brush",
+  "environment": "chemistry lab",
+  "object": "test tube and test tube brush",
+  "actions": [
+    "picking up",
+    "scrubbing",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 90,
+    "scrubbing": 45,
+    "placing": 81
+  },
+  "split": "train",
+  "annotated_segments": 216,
+  "annotated_episodes": 45,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0507_4",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0507\\export_0507_4",
+  "package_created_at": "2026-05-27T09:07:02.234877+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0507_4.",
+    "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 test tube and test tube brush.",
+    "Action labels were normalized to coarse-grained English actions: picking up, scrubbing, and placing.",
+    "Restored after review: previous episode-level cleanup was reversed because raw data was readable; segment ego/side videos and tactile parquet files were regenerated from raw start/end frames.",
+    "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": 216,
+    "p2": 0
+  },
+  "object_counts": {
+    "test tube and test tube brush": 216
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 216
+  },
+  "raw_removed_episodes": [
+    45
+  ],
+  "raw_removed_episode_count": 1,
+  "raw_available_episode_ranges": [
+    "0-44"
+  ],
+  "raw_episode_count": 45,
+  "raw_total_frames": 51574,
+  "restoration": {
+    "restored_at": "2026-05-28T08:19:16.399836+00:00",
+    "reason": "Previous cleanup removed whole episodes because of segment video export P0 issues; raw episode data was restored and segment videos were regenerated from raw start/end frames.",
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "metadata_backup_dir": "C:\\Users\\limhe\\Documents\\rimbot\\annotator_standalone\\.codex_runtime\\hf_data_audit_20260528_134224\\cleanup_execution_20260528_140418\\metadata_backup_before_cleanup\\rimbot_0507_4_test_tube_cleaning",
+    "generated_segment_videos": 434,
+    "generated_segment_parquets": 217,
+    "restored_notes": [
+      {
+        "segment_id": "rbt_ep000045_s000110",
+        "episode_idx": 45,
+        "action": "picking up",
+        "original_note": "无效视频\n"
+      }
+    ]
+  },
+  "environment_counts": {
+    "chemistry lab": 216
+  },
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:37:03.273170+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": 45,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000045_s000110"
+    ],
+    "no_valid_segment_episodes_removed": [
+      45
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0508_1_reagent_handling/README.md

@@ -0,0 +1,95 @@
+# rimbot_0508_1_reagent_handling Dataset
+
+This package contains the `0508_1` rimbot tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: chemistry reagent handling with solid powder, liquid pouring, and dropper dispensing
+- Environment: `chemistry lab`
+- Object: `varies by episode range`
+- Split: `train`
+- Raw episodes: 132
+- Annotated episodes: 132
+- Annotated segments: 604
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Task Ranges
+
+- Episodes 0-99 (dataset indices 0-99): opening a solid powder bottle, scooping powder with a lab spatula, and transferring it to a test tube; object `solid powder bottle, lab spatula, and test tube`; actions `opening`, `picking up`, `placing`, `scooping`.
+- Episodes 100-199 (dataset indices 100-199): pouring liquid reagent from a beaker into a test tube; object `beaker and test tube`; actions `picking up`, `placing`, `pouring`.
+- Episodes 200-263 (dataset indices 200-263): using a rubber bulb dropper to draw liquid and dispense it into a graduated cylinder; object `rubber bulb dropper and graduated cylinder`; actions `picking up`, `pipetting`, `placing`.
+
+## Episode Coverage
+
+- Annotated episode ranges: 0-105, 107-195, 197-263
+- Missing annotated episode count: 2
+- Missing annotated episode ranges: 106, 196
+- Missing annotated episodes: 106, 196
+
+- Raw package episode ranges: 0-105, 107-195, 197-263
+- Raw removed episode count: 2
+- Raw removed episode ranges: 106, 196
+- Raw episode indices are intentionally sparse and were not renumbered.
+
+## Labels
+
+Actions:
+
+- `opening`: 114
+- `picking up`: 437
+- `scooping`: 116
+- `placing`: 267
+- `pouring`: 100
+- `pipetting`: 65
+
+Objects:
+
+- `solid powder bottle, lab spatula, and test tube`: 470
+- `beaker and test tube`: 368
+- `rubber bulb dropper and graduated cylinder`: 261
+
+## 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/0508/`.
+- The legacy JSON annotations were converted to the unified `annotations.jsonl` and `manifest.json` format.
+- The legacy segment export contained tactile parquet files but no segment-level `ego.mp4` or `side.mp4`; videos were re-cut from raw episode videos.
+- Legacy source missing segment files before re-cutting:
+- `ego_video`: 1099
+- `side_video`: 1099
+- Legacy exports did not include outcome fields; `success_frame` defaults to each segment `end_frame`.
+
+## Folder Structure
+
+- `raw/lerobot/0508/`: 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: 2026-05-28T06:13:56.135632+00:00
+- Removed raw episodes: 130
+- Removed annotated segments: 495
+- 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: 795.
+- Raw episodes after revised cleanup: 239.
+- Removed no-valid-segment episodes: 124-125, 132-133, 138-144, 149, 152-153, 157, 161-162, 169, 172-174, 191, 203.
+

0508_1_reagent_handling/dataset_metadata.json

@@ -0,0 +1,964 @@
+{
+  "id": "rimbot_0508_1_reagent_handling",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0508",
+  "annotated_dataset_id": "0508_1",
+  "task": "chemistry reagent handling with solid powder, liquid pouring, and dropper dispensing",
+  "environment": "chemistry lab",
+  "object": "varies by episode range",
+  "objects": [
+    "solid powder bottle, lab spatula, and test tube",
+    "beaker and test tube",
+    "rubber bulb dropper and graduated cylinder"
+  ],
+  "actions": [
+    "opening",
+    "picking up",
+    "scooping",
+    "placing",
+    "pouring",
+    "pipetting"
+  ],
+  "action_counts": {
+    "opening": 114,
+    "picking up": 291,
+    "scooping": 116,
+    "placing": 158,
+    "pouring": 70,
+    "pipetting": 46
+  },
+  "object_counts": {
+    "solid powder bottle, lab spatula, and test tube": 470,
+    "beaker and test tube": 165,
+    "rubber bulb dropper and graduated cylinder": 160
+  },
+  "split": "train",
+  "annotated_segments": 795,
+  "annotated_episodes": 239,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0508",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0508\\0508_1_annotations.json",
+  "package_created_at": "2026-05-27T10:30:40.760217+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0508.",
+    "The legacy JSON annotations were converted to the unified annotations.jsonl/manifest.json format.",
+    "Legacy segment videos were unavailable in the annotation export, so ego.mp4 and side.mp4 were re-cut from the raw LeRobot episode videos.",
+    "Legacy exports did not include outcome fields; success_frame defaults to each segment end_frame.",
+    "Missing annotated episodes are recorded in coverage and README.md.",
+    "Unannotated episodes were removed from the packaged raw LeRobot copy; the original source dataset was not modified and episode indices remain sparse.",
+    "Post-cleanup 2026-05-28T06:13:52.639011+00:00: removed 130 raw episodes and 495 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": 795,
+    "p2": 0
+  },
+  "task_ranges": [
+    {
+      "episode_start": 0,
+      "episode_end": 99,
+      "dataset_episode_start": 0,
+      "dataset_episode_end": 99,
+      "task": "opening a solid powder bottle, scooping powder with a lab spatula, and transferring it to a test tube",
+      "environment": "chemistry lab",
+      "object": "solid powder bottle, lab spatula, and test tube",
+      "actions": [
+        "opening",
+        "picking up",
+        "placing",
+        "scooping"
+      ]
+    },
+    {
+      "episode_start": 100,
+      "episode_end": 199,
+      "dataset_episode_start": 100,
+      "dataset_episode_end": 199,
+      "task": "pouring liquid reagent from a beaker into a test tube",
+      "environment": "chemistry lab",
+      "object": "beaker and test tube",
+      "actions": [
+        "picking up",
+        "placing",
+        "pouring"
+      ]
+    },
+    {
+      "episode_start": 200,
+      "episode_end": 263,
+      "dataset_episode_start": 200,
+      "dataset_episode_end": 263,
+      "task": "using a rubber bulb dropper to draw liquid and dispense it into a graduated cylinder",
+      "environment": "chemistry lab",
+      "object": "rubber bulb dropper and graduated cylinder",
+      "actions": [
+        "picking up",
+        "pipetting",
+        "placing"
+      ]
+    }
+  ],
+  "coverage": {
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+    "annotated_episode_count": 132,
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+  ],
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+  "raw_total_frames": 93997,
+  "raw_source_total_frames": 101211,
+  "grasp_type_counts": {
+    "Small Diameter": 795
+  },
+  "environment_counts": {
+    "chemistry lab": 795
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:13:52.639011+00:00",
+    "removed_episode_count": 130,
+    "removed_segment_count": 495,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:42:51.677771+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": 191,
+    "restored_raw_episode_count": 239,
+    "explicit_invalid_segment_ids_removed": [
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+      "rbt_ep000142_s000681",
+      "rbt_ep000142_s000682",
+      "rbt_ep000143_s000683",
+      "rbt_ep000143_s000684",
+      "rbt_ep000143_s000685",
+      "rbt_ep000144_s000686",
+      "rbt_ep000144_s000688",
+      "rbt_ep000144_s000689",
+      "rbt_ep000145_s000690",
+      "rbt_ep000145_s000692",
+      "rbt_ep000146_s000694",
+      "rbt_ep000146_s000698",
+      "rbt_ep000147_s000723",
+      "rbt_ep000147_s000725",
+      "rbt_ep000148_s000733",
+      "rbt_ep000148_s000734",
+      "rbt_ep000148_s000735",
+      "rbt_ep000149_s000736",
+      "rbt_ep000149_s000737",
+      "rbt_ep000149_s000738",
+      "rbt_ep000150_s000742",
+      "rbt_ep000150_s000744",
+      "rbt_ep000150_s000745",
+      "rbt_ep000150_s000746",
+      "rbt_ep000151_s000747",
+      "rbt_ep000151_s000749",
+      "rbt_ep000152_s000750",
+      "rbt_ep000152_s000751",
+      "rbt_ep000152_s000752",
+      "rbt_ep000153_s000753",
+      "rbt_ep000153_s000754",
+      "rbt_ep000153_s000755",
+      "rbt_ep000154_s000756",
+      "rbt_ep000154_s000757",
+      "rbt_ep000154_s000758",
+      "rbt_ep000154_s000760",
+      "rbt_ep000155_s000764",
+      "rbt_ep000155_s000766",
+      "rbt_ep000156_s000761",
+      "rbt_ep000156_s000763",
+      "rbt_ep000157_s000767",
+      "rbt_ep000157_s000768",
+      "rbt_ep000157_s000769",
+      "rbt_ep000158_s000770",
+      "rbt_ep000158_s000772",
+      "rbt_ep000159_s000773",
+      "rbt_ep000159_s000775",
+      "rbt_ep000160_s000776",
+      "rbt_ep000160_s000778",
+      "rbt_ep000161_s000779",
+      "rbt_ep000161_s000780",
+      "rbt_ep000161_s000781",
+      "rbt_ep000162_s000785",
+      "rbt_ep000162_s000786",
+      "rbt_ep000162_s000787",
+      "rbt_ep000163_s000788",
+      "rbt_ep000163_s000790",
+      "rbt_ep000163_s000792",
+      "rbt_ep000164_s000793",
+      "rbt_ep000164_s000795",
+      "rbt_ep000165_s000796",
+      "rbt_ep000165_s000798",
+      "rbt_ep000166_s000799",
+      "rbt_ep000166_s000801",
+      "rbt_ep000167_s000804",
+      "rbt_ep000167_s000806",
+      "rbt_ep000168_s000807",
+      "rbt_ep000168_s000809",
+      "rbt_ep000169_s000810",
+      "rbt_ep000169_s000811",
+      "rbt_ep000169_s000812",
+      "rbt_ep000169_s000813",
+      "rbt_ep000169_s000814",
+      "rbt_ep000170_s000815",
+      "rbt_ep000170_s000817",
+      "rbt_ep000171_s000818",
+      "rbt_ep000171_s000820",
+      "rbt_ep000172_s000821",
+      "rbt_ep000172_s000822",
+      "rbt_ep000172_s000823",
+      "rbt_ep000172_s000824",
+      "rbt_ep000173_s000825",
+      "rbt_ep000173_s000826",
+      "rbt_ep000173_s000827",
+      "rbt_ep000173_s000828",
+      "rbt_ep000173_s000829",
+      "rbt_ep000174_s000830",
+      "rbt_ep000174_s000831",
+      "rbt_ep000174_s000832",
+      "rbt_ep000175_s000833",
+      "rbt_ep000175_s000835",
+      "rbt_ep000176_s000836",
+      "rbt_ep000176_s000838",
+      "rbt_ep000177_s000839",
+      "rbt_ep000177_s000841",
+      "rbt_ep000178_s000842",
+      "rbt_ep000178_s000844",
+      "rbt_ep000179_s000845",
+      "rbt_ep000179_s000847",
+      "rbt_ep000180_s000722",
+      "rbt_ep000181_s000715",
+      "rbt_ep000182_s000710",
+      "rbt_ep000182_s000712",
+      "rbt_ep000183_s000707",
+      "rbt_ep000183_s000709",
+      "rbt_ep000184_s000699",
+      "rbt_ep000184_s000701",
+      "rbt_ep000185_s000704",
+      "rbt_ep000185_s000705",
+      "rbt_ep000185_s000706",
+      "rbt_ep000186_s000782",
+      "rbt_ep000186_s000784",
+      "rbt_ep000187_s000848",
+      "rbt_ep000187_s000850",
+      "rbt_ep000188_s000851",
+      "rbt_ep000188_s000853",
+      "rbt_ep000189_s000854",
+      "rbt_ep000189_s000856",
+      "rbt_ep000190_s000857",
+      "rbt_ep000190_s000859",
+      "rbt_ep000191_s000860",
+      "rbt_ep000191_s000861",
+      "rbt_ep000191_s000862",
+      "rbt_ep000192_s000863",
+      "rbt_ep000192_s000865",
+      "rbt_ep000193_s000866",
+      "rbt_ep000194_s000869",
+      "rbt_ep000194_s000871",
+      "rbt_ep000195_s000872",
+      "rbt_ep000195_s000874",
+      "rbt_ep000197_s000877",
+      "rbt_ep000198_s000878",
+      "rbt_ep000198_s000880",
+      "rbt_ep000199_s000881",
+      "rbt_ep000199_s000883",
+      "rbt_ep000200_s000884",
+      "rbt_ep000200_s000886",
+      "rbt_ep000201_s000889",
+      "rbt_ep000201_s000890",
+      "rbt_ep000201_s000891",
+      "rbt_ep000202_s000894",
+      "rbt_ep000202_s000895",
+      "rbt_ep000202_s000896",
+      "rbt_ep000203_s000897",
+      "rbt_ep000203_s000898",
+      "rbt_ep000203_s000899",
+      "rbt_ep000203_s000900",
+      "rbt_ep000204_s000902",
+      "rbt_ep000204_s000904",
+      "rbt_ep000205_s000906",
+      "rbt_ep000205_s000907",
+      "rbt_ep000205_s000908",
+      "rbt_ep000206_s000912",
+      "rbt_ep000207_s000914",
+      "rbt_ep000207_s000915",
+      "rbt_ep000208_s000918",
+      "rbt_ep000208_s000920",
+      "rbt_ep000209_s000921",
+      "rbt_ep000209_s000923",
+      "rbt_ep000209_s000924",
+      "rbt_ep000210_s000926",
+      "rbt_ep000211_s000930",
+      "rbt_ep000211_s000931",
+      "rbt_ep000211_s000932",
+      "rbt_ep000212_s000933",
+      "rbt_ep000212_s000934",
+      "rbt_ep000212_s000936",
+      "rbt_ep000214_s000942",
+      "rbt_ep000215_s000948",
+      "rbt_ep000216_s000952",
+      "rbt_ep000217_s000954",
+      "rbt_ep000217_s000955",
+      "rbt_ep000221_s000966",
+      "rbt_ep000221_s000968",
+      "rbt_ep000222_s000969",
+      "rbt_ep000222_s000970",
+      "rbt_ep000223_s000974",
+      "rbt_ep000223_s000976",
+      "rbt_ep000224_s000978",
+      "rbt_ep000225_s000982",
+      "rbt_ep000225_s000984",
+      "rbt_ep000226_s000986",
+      "rbt_ep000226_s000988",
+      "rbt_ep000227_s000989",
+      "rbt_ep000227_s000992",
+      "rbt_ep000228_s000993",
+      "rbt_ep000228_s000994",
+      "rbt_ep000228_s000996",
+      "rbt_ep000229_s001006",
+      "rbt_ep000229_s001007",
+      "rbt_ep000229_s001008",
+      "rbt_ep000230_s001014",
+      "rbt_ep000230_s001015",
+      "rbt_ep000230_s001016",
+      "rbt_ep000233_s001027",
+      "rbt_ep000234_s001029",
+      "rbt_ep000236_s001044",
+      "rbt_ep000237_s001046",
+      "rbt_ep000237_s001047",
+      "rbt_ep000238_s001052",
+      "rbt_ep000240_s001059",
+      "rbt_ep000242_s001066",
+      "rbt_ep000242_s001068",
+      "rbt_ep000243_s001070",
+      "rbt_ep000244_s001036",
+      "rbt_ep000245_s001074",
+      "rbt_ep000245_s001075",
+      "rbt_ep000247_s001082",
+      "rbt_ep000248_s001086",
+      "rbt_ep000249_s001092",
+      "rbt_ep000250_s001098",
+      "rbt_ep000250_s001100",
+      "rbt_ep000251_s001094",
+      "rbt_ep000251_s001095",
+      "rbt_ep000251_s001096",
+      "rbt_ep000252_s001102",
+      "rbt_ep000252_s001103",
+      "rbt_ep000254_s001106",
+      "rbt_ep000254_s001107",
+      "rbt_ep000254_s001108",
+      "rbt_ep000255_s001114",
+      "rbt_ep000255_s001116",
+      "rbt_ep000256_s001118",
+      "rbt_ep000256_s001120",
+      "rbt_ep000258_s001128",
+      "rbt_ep000258_s001130",
+      "rbt_ep000258_s001132",
+      "rbt_ep000259_s001136",
+      "rbt_ep000260_s001138",
+      "rbt_ep000260_s001139",
+      "rbt_ep000260_s001140",
+      "rbt_ep000262_s001002",
+      "rbt_ep000262_s001003",
+      "rbt_ep000262_s001004",
+      "rbt_ep000263_s000998",
+      "rbt_ep000263_s000999"
+    ],
+    "no_valid_segment_episodes_removed": [
+      124,
+      125,
+      132,
+      133,
+      138,
+      139,
+      140,
+      141,
+      142,
+      143,
+      144,
+      149,
+      152,
+      153,
+      157,
+      161,
+      162,
+      169,
+      172,
+      173,
+      174,
+      191,
+      203
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0508_2_dropper_liquid_transfer/README.md

@@ -0,0 +1,88 @@
+# rimbot_0508_2_dropper_liquid_transfer Dataset
+
+This package contains the `0508_2` rimbot tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: using a rubber bulb dropper to draw liquid and dispense it into a test tube
+- Environment: `chemistry lab`
+- Object: `rubber bulb dropper and test tube`
+- Split: `train`
+- Raw episodes: 20
+- Annotated episodes: 20
+- Annotated segments: 80
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Task Ranges
+
+- Episodes 1-87 (dataset indices 1-87): using a rubber bulb dropper to draw liquid and dispense it into a test tube; object `rubber bulb dropper and test tube`; actions `picking up`, `pipetting`, `placing`.
+
+## Episode Coverage
+
+- Annotated episode ranges: 1-87
+- Missing annotated episode count: 1
+- Missing annotated episode ranges: 0
+- Missing annotated episodes: 0
+
+- Raw package episode ranges: 1-87
+- Raw removed episode count: 1
+- Raw removed episode ranges: 0
+- Raw episode indices are intentionally sparse and were not renumbered.
+
+## Labels
+
+Actions:
+
+- `picking up`: 174
+- `pipetting`: 86
+- `placing`: 87
+
+Objects:
+
+- `rubber bulb dropper and test tube`: 347
+
+## 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/0508_2/`.
+- The legacy JSON annotations were converted to the unified `annotations.jsonl` and `manifest.json` format.
+- The legacy segment export contained tactile parquet files but no segment-level `ego.mp4` or `side.mp4`; videos were re-cut from raw episode videos.
+- Legacy source missing segment files before re-cutting:
+- `ego_video`: 347
+- `side_video`: 347
+- Legacy exports did not include outcome fields; `success_frame` defaults to each segment `end_frame`.
+
+## Folder Structure
+
+- `raw/lerobot/0508_2/`: 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: 2026-05-28T06:15:32.308240+00:00
+- Removed raw episodes: 67
+- Removed annotated segments: 267
+- 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: 200.
+- Raw episodes after revised cleanup: 86.
+- Removed no-valid-segment episodes: 17.
+

0508_2_dropper_liquid_transfer/dataset_metadata.json

@@ -0,0 +1,457 @@
+{
+  "id": "rimbot_0508_2_dropper_liquid_transfer",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0508_2",
+  "annotated_dataset_id": "0508_2",
+  "task": "using a rubber bulb dropper to draw liquid and dispense it into a test tube",
+  "environment": "chemistry lab",
+  "object": "rubber bulb dropper and test tube",
+  "objects": [
+    "rubber bulb dropper and test tube"
+  ],
+  "actions": [
+    "picking up",
+    "pipetting",
+    "placing"
+  ],
+  "action_counts": {
+    "picking up": 137,
+    "pipetting": 24,
+    "placing": 39
+  },
+  "object_counts": {
+    "rubber bulb dropper and test tube": 200
+  },
+  "split": "train",
+  "annotated_segments": 200,
+  "annotated_episodes": 86,
+  "source_raw_dataset": "E:\\rimbot_datasets\\0508_2",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0508\\0508_2_annotations.json",
+  "package_created_at": "2026-05-27T10:37:29.979391+00:00",
+  "processing_notes": [
+    "The legacy JSON annotations were converted to the unified annotations.jsonl/manifest.json format.",
+    "Legacy segment videos were unavailable in the annotation export, so ego.mp4 and side.mp4 were re-cut from the raw LeRobot episode videos.",
+    "Legacy exports did not include outcome fields; success_frame defaults to each segment end_frame.",
+    "Missing annotated episodes are recorded in coverage and README.md.",
+    "Unannotated episodes were removed from the packaged raw LeRobot copy; the original source dataset was not modified and episode indices remain sparse.",
+    "Post-cleanup 2026-05-28T06:15:31.950902+00:00: removed 67 raw episodes and 267 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": 200,
+    "p2": 0
+  },
+  "task_ranges": [
+    {
+      "episode_start": 1,
+      "episode_end": 87,
+      "dataset_episode_start": 1,
+      "dataset_episode_end": 87,
+      "task": "using a rubber bulb dropper to draw liquid and dispense it into a test tube",
+      "environment": "chemistry lab",
+      "object": "rubber bulb dropper and test tube",
+      "actions": [
+        "picking up",
+        "pipetting",
+        "placing"
+      ]
+    }
+  ],
+  "coverage": {
+    "raw_total_episodes": 88,
+    "annotated_episode_count": 20,
+    "annotated_episodes": [
+      1,
+      53,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      80,
+      81,
+      82,
+      83,
+      84,
+      86,
+      87
+    ],
+    "annotated_episode_ranges": [
+      "1",
+      "53",
+      "68-78",
+      "80-84",
+      "86-87"
+    ],
+    "missing_episode_count": 1,
+    "missing_episodes": [
+      0
+    ],
+    "missing_episode_ranges": [
+      "0"
+    ],
+    "raw_source_episode_count": 88,
+    "raw_available_episode_count": 87,
+    "raw_available_episode_ranges": [
+      "1",
+      "53",
+      "68-78",
+      "80-84",
+      "86-87"
+    ],
+    "raw_removed_episodes": [
+      0,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
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+      44,
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+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      79,
+      85
+    ],
+    "raw_removed_episode_count": 68,
+    "raw_sparse_episode_indices": true,
+    "excluded_episode_count": 67,
+    "excluded_episodes": [
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
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+      40,
+      41,
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+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      54,
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+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      79,
+      85
+    ],
+    "excluded_episode_ranges": [
+      "2-52",
+      "54-67",
+      "79",
+      "85"
+    ]
+  },
+  "legacy_source_missing_segment_files": {
+    "ego_video": 347,
+    "side_video": 347
+  },
+  "raw_episode_count": 86,
+  "raw_source_episode_count": 88,
+  "raw_removed_episodes": [
+    17
+  ],
+  "raw_removed_episode_count": 1,
+  "raw_available_episode_ranges": [
+    "1-16, 18-87"
+  ],
+  "raw_sparse_episode_indices": true,
+  "raw_total_frames": 30204,
+  "raw_source_total_frames": 32643,
+  "grasp_type_counts": {
+    "Small Diameter": 200
+  },
+  "environment_counts": {
+    "chemistry lab": 200
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:15:31.950902+00:00",
+    "removed_episode_count": 67,
+    "removed_segment_count": 267,
+    "criteria": [
+      "qr_visibility_or_invalid_note",
+      "invalid_or_reject_note",
+      "validation_p0"
+    ],
+    "quarantine_dir": "E:\\huggingface_data_removed_20260528_140418"
+  },
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T09:46:18.323759+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": 120,
+    "restored_raw_episode_count": 86,
+    "explicit_invalid_segment_ids_removed": [
+      "rbt_ep000002_s000006",
+      "rbt_ep000002_s000007",
+      "rbt_ep000002_s000008",
+      "rbt_ep000003_s000010",
+      "rbt_ep000003_s000011",
+      "rbt_ep000003_s000012",
+      "rbt_ep000004_s000014",
+      "rbt_ep000004_s000015",
+      "rbt_ep000004_s000016",
+      "rbt_ep000005_s000018",
+      "rbt_ep000005_s000019",
+      "rbt_ep000005_s000020",
+      "rbt_ep000006_s000022",
+      "rbt_ep000006_s000023",
+      "rbt_ep000006_s000024",
+      "rbt_ep000007_s000026",
+      "rbt_ep000007_s000027",
+      "rbt_ep000007_s000028",
+      "rbt_ep000008_s000030",
+      "rbt_ep000008_s000031",
+      "rbt_ep000009_s000034",
+      "rbt_ep000009_s000035",
+      "rbt_ep000009_s000036",
+      "rbt_ep000010_s000038",
+      "rbt_ep000010_s000039",
+      "rbt_ep000010_s000040",
+      "rbt_ep000011_s000042",
+      "rbt_ep000011_s000043",
+      "rbt_ep000011_s000044",
+      "rbt_ep000012_s000067",
+      "rbt_ep000012_s000068",
+      "rbt_ep000013_s000070",
+      "rbt_ep000013_s000071",
+      "rbt_ep000013_s000072",
+      "rbt_ep000014_s000074",
+      "rbt_ep000014_s000075",
+      "rbt_ep000014_s000076",
+      "rbt_ep000015_s000078",
+      "rbt_ep000015_s000079",
+      "rbt_ep000016_s000082",
+      "rbt_ep000016_s000083",
+      "rbt_ep000016_s000084",
+      "rbt_ep000017_s000085",
+      "rbt_ep000017_s000086",
+      "rbt_ep000017_s000087",
+      "rbt_ep000018_s000094",
+      "rbt_ep000019_s000089",
+      "rbt_ep000019_s000090",
+      "rbt_ep000020_s000097",
+      "rbt_ep000020_s000098",
+      "rbt_ep000020_s000099",
+      "rbt_ep000021_s000103",
+      "rbt_ep000022_s000106",
+      "rbt_ep000022_s000107",
+      "rbt_ep000022_s000108",
+      "rbt_ep000023_s000111",
+      "rbt_ep000024_s000115",
+      "rbt_ep000024_s000116",
+      "rbt_ep000025_s000119",
+      "rbt_ep000025_s000120",
+      "rbt_ep000026_s000122",
+      "rbt_ep000026_s000123",
+      "rbt_ep000026_s000124",
+      "rbt_ep000027_s000126",
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+      "rbt_ep000028_s000130",
+      "rbt_ep000029_s000135",
+      "rbt_ep000030_s000138",
+      "rbt_ep000030_s000139",
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+      "rbt_ep000031_s000144",
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+      "rbt_ep000033_s000151",
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+      "rbt_ep000036_s000164",
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+      "rbt_ep000039_s000176",
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+      "rbt_ep000040_s000180",
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+      "rbt_ep000041_s000184",
+      "rbt_ep000042_s000187",
+      "rbt_ep000042_s000188",
+      "rbt_ep000043_s000191",
+      "rbt_ep000043_s000192",
+      "rbt_ep000044_s000194",
+      "rbt_ep000045_s000198",
+      "rbt_ep000045_s000199",
+      "rbt_ep000046_s000203",
+      "rbt_ep000046_s000204",
+      "rbt_ep000047_s000206",
+      "rbt_ep000047_s000207",
+      "rbt_ep000047_s000208",
+      "rbt_ep000048_s000211",
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+      "rbt_ep000050_s000218",
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+      "rbt_ep000050_s000220",
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+      "rbt_ep000052_s000226",
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+      "rbt_ep000057_s000248",
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+      "rbt_ep000059_s000256",
+      "rbt_ep000060_s000259",
+      "rbt_ep000060_s000260",
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+      "rbt_ep000061_s000264",
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+      "rbt_ep000065_s000279",
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+      "rbt_ep000066_s000282",
+      "rbt_ep000066_s000283",
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+      "rbt_ep000067_s000286",
+      "rbt_ep000067_s000287",
+      "rbt_ep000067_s000288",
+      "rbt_ep000079_s000334",
+      "rbt_ep000085_s000054"
+    ],
+    "no_valid_segment_episodes_removed": [
+      17
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0508_3_liquid_transfer/README.md

@@ -0,0 +1,91 @@
+# rimbot_0508_3_liquid_transfer Dataset
+
+This package contains the `0508_3` rimbot tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: liquid transfer with a rubber bulb dropper and graduated cylinder pouring
+- Environment: `chemistry lab`
+- Object: `varies by episode range`
+- Split: `train`
+- Raw episodes: 1
+- Annotated episodes: 1
+- Annotated segments: 1
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Task Ranges
+
+- Episodes 1-101 (dataset indices 0-101): using a rubber bulb dropper to draw liquid and dispense it into a test tube; object `rubber bulb dropper and test tube`; actions `picking up`, `pipetting`, `placing`.
+- Episodes 102-155 (dataset indices 102-155): pouring liquid from a graduated cylinder into a test tube; object `graduated cylinder and test tube`; actions `picking up`, `placing`, `pouring`.
+
+## Episode Coverage
+
+- Annotated episode ranges: 0-79, 118, 149-155
+- Missing annotated episode count: 68
+- Missing annotated episode ranges: 80-117, 119-148
+- Missing annotated episodes: 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148
+
+- Raw package episode ranges: 0-79, 118, 149-155
+- Raw removed episode count: 68
+- Raw removed episode ranges: 80-117, 119-148
+- Raw episode indices are intentionally sparse and were not renumbered.
+
+## Labels
+
+Actions:
+
+- `picking up`: 159
+- `pipetting`: 74
+- `placing`: 78
+- `pouring`: 8
+
+Objects:
+
+- `rubber bulb dropper and test tube`: 289
+- `graduated cylinder and test tube`: 30
+
+## 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/0508_3/`.
+- The legacy JSON annotations were converted to the unified `annotations.jsonl` and `manifest.json` format.
+- The legacy segment export contained tactile parquet files but no segment-level `ego.mp4` or `side.mp4`; videos were re-cut from raw episode videos.
+- Legacy source missing segment files before re-cutting:
+- `ego_video`: 319
+- `side_video`: 319
+- Legacy exports did not include outcome fields; `success_frame` defaults to each segment `end_frame`.
+
+## Folder Structure
+
+- `raw/lerobot/0508_3/`: 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: 2026-05-28T06:15:48.554335+00:00
+- Removed raw episodes: 87
+- Removed annotated segments: 318
+- 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: 55.
+- Raw episodes after revised cleanup: 35.
+- Removed no-valid-segment episodes: 1-9, 11-15, 25, 27, 30-33, 38, 41, 43-50, 52-53, 55-56, 59-66, 68, 70-79.
+

0508_3_liquid_transfer/checksums.sha256

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0508_3_liquid_transfer/dataset_metadata.json

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+{
+  "id": "rimbot_0508_3_liquid_transfer",
+  "source_collection": "rimbot",
+  "raw_dataset_id": "0508_3",
+  "annotated_dataset_id": "0508_3",
+  "task": "liquid transfer with a rubber bulb dropper and graduated cylinder pouring",
+  "environment": "chemistry lab",
+  "object": "varies by episode range",
+  "objects": [
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+    "graduated cylinder and test tube"
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+    "graduated cylinder and test tube": 18
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+  "split": "train",
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+  "source_raw_dataset": "E:\\rimbot_datasets\\0508_3",
+  "source_annotated_release": "E:\\annotated_data\\rimbot_export_0508\\0508_3_annotations.json",
+  "package_created_at": "2026-05-27T10:43:32.349220+00:00",
+  "processing_notes": [
+    "The legacy JSON annotations were converted to the unified annotations.jsonl/manifest.json format.",
+    "Legacy segment videos were unavailable in the annotation export, so ego.mp4 and side.mp4 were re-cut from the raw LeRobot episode videos.",
+    "Legacy exports did not include outcome fields; success_frame defaults to each segment end_frame.",
+    "Missing annotated episodes are recorded in coverage and README.md.",
+    "Unannotated episodes were removed from the packaged raw LeRobot copy; the original source dataset was not modified and episode indices remain sparse.",
+    "Post-cleanup 2026-05-28T06:15:48.488917+00:00: removed 87 raw episodes and 318 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."
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+      "rbt_ep000028_s000128",
+      "rbt_ep000029_s000129",
+      "rbt_ep000029_s000131",
+      "rbt_ep000030_s000132",
+      "rbt_ep000030_s000133",
+      "rbt_ep000030_s000134",
+      "rbt_ep000030_s000135",
+      "rbt_ep000031_s000136",
+      "rbt_ep000031_s000137",
+      "rbt_ep000031_s000138",
+      "rbt_ep000032_s000139",
+      "rbt_ep000032_s000140",
+      "rbt_ep000032_s000141",
+      "rbt_ep000033_s000142",
+      "rbt_ep000033_s000143",
+      "rbt_ep000033_s000144",
+      "rbt_ep000034_s000147",
+      "rbt_ep000034_s000148",
+      "rbt_ep000034_s000149",
+      "rbt_ep000035_s000152",
+      "rbt_ep000035_s000153",
+      "rbt_ep000035_s000154",
+      "rbt_ep000036_s000155",
+      "rbt_ep000036_s000157",
+      "rbt_ep000037_s000160",
+      "rbt_ep000038_s000161",
+      "rbt_ep000038_s000163",
+      "rbt_ep000038_s000164",
+      "rbt_ep000039_s000167",
+      "rbt_ep000039_s000168",
+      "rbt_ep000039_s000169",
+      "rbt_ep000040_s000170",
+      "rbt_ep000040_s000171",
+      "rbt_ep000040_s000172",
+      "rbt_ep000041_s000313",
+      "rbt_ep000043_s000176",
+      "rbt_ep000043_s000177",
+      "rbt_ep000044_s000178",
+      "rbt_ep000044_s000179",
+      "rbt_ep000044_s000180",
+      "rbt_ep000044_s000181",
+      "rbt_ep000044_s000182",
+      "rbt_ep000045_s000184",
+      "rbt_ep000045_s000185",
+      "rbt_ep000045_s000186",
+      "rbt_ep000046_s000187",
+      "rbt_ep000046_s000188",
+      "rbt_ep000046_s000189",
+      "rbt_ep000046_s000190",
+      "rbt_ep000047_s000191",
+      "rbt_ep000047_s000192",
+      "rbt_ep000047_s000193",
+      "rbt_ep000047_s000194",
+      "rbt_ep000048_s000195",
+      "rbt_ep000048_s000196",
+      "rbt_ep000048_s000197",
+      "rbt_ep000048_s000198",
+      "rbt_ep000049_s000199",
+      "rbt_ep000049_s000200",
+      "rbt_ep000049_s000201",
+      "rbt_ep000049_s000202",
+      "rbt_ep000050_s000091",
+      "rbt_ep000050_s000092",
+      "rbt_ep000050_s000093",
+      "rbt_ep000050_s000094",
+      "rbt_ep000050_s000095",
+      "rbt_ep000050_s000096",
+      "rbt_ep000051_s000204",
+      "rbt_ep000051_s000205",
+      "rbt_ep000051_s000206",
+      "rbt_ep000052_s000227",
+      "rbt_ep000052_s000228",
+      "rbt_ep000052_s000229",
+      "rbt_ep000053_s000230",
+      "rbt_ep000053_s000231",
+      "rbt_ep000053_s000232",
+      "rbt_ep000053_s000233",
+      "rbt_ep000054_s000236",
+      "rbt_ep000054_s000237",
+      "rbt_ep000054_s000238",
+      "rbt_ep000055_s000239",
+      "rbt_ep000055_s000240",
+      "rbt_ep000055_s000241",
+      "rbt_ep000056_s000312",
+      "rbt_ep000057_s000243",
+      "rbt_ep000058_s000245",
+      "rbt_ep000058_s000246",
+      "rbt_ep000058_s000247",
+      "rbt_ep000058_s000248",
+      "rbt_ep000058_s000249",
+      "rbt_ep000059_s000254",
+      "rbt_ep000059_s000255",
+      "rbt_ep000059_s000256",
+      "rbt_ep000060_s000314",
+      "rbt_ep000061_s000257",
+      "rbt_ep000061_s000258",
+      "rbt_ep000061_s000259",
+      "rbt_ep000062_s000260",
+      "rbt_ep000062_s000261",
+      "rbt_ep000062_s000262",
+      "rbt_ep000062_s000263",
+      "rbt_ep000063_s000264",
+      "rbt_ep000063_s000265",
+      "rbt_ep000063_s000266",
+      "rbt_ep000063_s000267",
+      "rbt_ep000064_s000268",
+      "rbt_ep000064_s000269",
+      "rbt_ep000064_s000270",
+      "rbt_ep000064_s000271",
+      "rbt_ep000065_s000272",
+      "rbt_ep000065_s000273",
+      "rbt_ep000065_s000274",
+      "rbt_ep000065_s000275",
+      "rbt_ep000066_s000276",
+      "rbt_ep000066_s000277",
+      "rbt_ep000066_s000278",
+      "rbt_ep000066_s000279",
+      "rbt_ep000067_s000251",
+      "rbt_ep000067_s000252",
+      "rbt_ep000067_s000253",
+      "rbt_ep000068_s000280",
+      "rbt_ep000068_s000281",
+      "rbt_ep000068_s000282",
+      "rbt_ep000068_s000283",
+      "rbt_ep000068_s000284",
+      "rbt_ep000068_s000285",
+      "rbt_ep000069_s000287",
+      "rbt_ep000069_s000288",
+      "rbt_ep000069_s000289",
+      "rbt_ep000070_s000290",
+      "rbt_ep000070_s000291",
+      "rbt_ep000070_s000292",
+      "rbt_ep000071_s000293",
+      "rbt_ep000071_s000294",
+      "rbt_ep000071_s000295",
+      "rbt_ep000071_s000296",
+      "rbt_ep000072_s000297",
+      "rbt_ep000072_s000298",
+      "rbt_ep000072_s000299",
+      "rbt_ep000072_s000300",
+      "rbt_ep000073_s000301",
+      "rbt_ep000073_s000302",
+      "rbt_ep000073_s000303",
+      "rbt_ep000073_s000304",
+      "rbt_ep000074_s000305",
+      "rbt_ep000074_s000306",
+      "rbt_ep000074_s000307",
+      "rbt_ep000074_s000308",
+      "rbt_ep000075_s000310",
+      "rbt_ep000076_s000311",
+      "rbt_ep000077_s000315",
+      "rbt_ep000078_s000316",
+      "rbt_ep000079_s000317",
+      "rbt_ep000118_s000319",
+      "rbt_ep000149_s000325",
+      "rbt_ep000150_s000322",
+      "rbt_ep000150_s000323",
+      "rbt_ep000151_s000224",
+      "rbt_ep000151_s000226",
+      "rbt_ep000152_s000220",
+      "rbt_ep000152_s000222",
+      "rbt_ep000153_s000215",
+      "rbt_ep000153_s000218",
+      "rbt_ep000154_s000214",
+      "rbt_ep000155_s000210"
+    ],
+    "no_valid_segment_episodes_removed": [
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      11,
+      12,
+      13,
+      14,
+      15,
+      25,
+      27,
+      30,
+      31,
+      32,
+      33,
+      38,
+      41,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      52,
+      53,
+      55,
+      56,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      68,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79
+    ],
+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

0508_4_crucible_tongs_transfer/README.md

@@ -0,0 +1,52 @@
+# 0508_4 Crucible Tongs Transfer Dataset
+
+This package describes the cleaned `0508_4` tactile annotation subset for using crucible tongs to transfer a crucible, prepared for Hugging Face upload.
+
+## Summary
+
+- Task: using crucible tongs to transfer a crucible
+- Environment: `chemistry lab`
+- Object: `crucible tongs and crucible`
+- Split: `train`
+- Annotated episodes: 79
+- Annotated segments: 237
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Scope
+
+The original `0508_4` LeRobot recording contains more than one task. Episodes `001-096` correspond to the crucible-tongs transfer task, while episodes starting from `097` correspond to stirring a beaker solution with a glass rod. The glass-rod stirring portion has not been annotated in this cleaned release.
+
+The current annotated release includes only the usable crucible-tongs transfer subset. It covers 79 cleaned episodes after post-processing. Episode `080` and episode `095` were excluded from the cleaned annotation release, and the remaining unannotated or unavailable crucible-tongs episodes are not included.
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `clamping and transferring`
+- `placing`
+
+Each included episode follows the cleaned action sequence:
+
+`picking up > clamping and transferring > placing`
+
+The original `moving` and `picking up` stages were merged into a single `picking up` segment. The original `adjusting` stage was normalized to `clamping and transferring`.
+
+## Folder Structure
+
+Expected package structure:
+
+- `raw/lerobot/0508_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 after the final Hugging Face package is assembled. Use `annotated/checksums.sha256` to verify only the annotated subset.

0508_5_beaker_glass_rod_stirring/README.md

@@ -0,0 +1,67 @@
+# 0508_5_beaker_glass_rod_stirring Dataset
+
+This package contains the `0508_5` tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Task: stirring with a beaker and glass rod
+- Environment: `chemistry lab`
+- Object: `beaker and glass rod`
+- Split: `train`
+- Annotated episodes: 1
+- Annotated segments: 3
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Labels
+
+Actions:
+
+- `picking up`
+- `stirring`
+- `placing`
+- `picking up beaker`
+- `picking up glass rod`
+- `placing glass rod`
+- `placing beaker`
+
+## Processing Notes
+
+- The raw LeRobot dataset is preserved without modification under raw/lerobot/0508_5.
+- 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 beaker and glass rod.
+- Chinese action labels in the source export were translated to English in the package copy.
+
+## Folder Structure
+
+- `raw/lerobot/0508_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.
+
+## Post-cleanup Filtering
+
+- Cleanup time: 2026-05-28T06:04:24.975712+00:00
+- Removed raw episodes: 51
+- Removed annotated segments: 250
+- 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: 253.
+- Raw episodes after revised cleanup: 52.
+- Removed no-valid-segment episodes: none.
+

0508_5_beaker_glass_rod_stirring/dataset_metadata.json

@@ -0,0 +1,88 @@
+{
+  "id": "0508_5_beaker_glass_rod_stirring",
+  "raw_dataset_id": "0508_5",
+  "task": "stirring with a beaker and glass rod",
+  "environment": "chemistry lab",
+  "object": "beaker and glass rod",
+  "actions": [
+    "picking up",
+    "stirring",
+    "placing",
+    "picking up beaker",
+    "picking up glass rod",
+    "placing glass rod",
+    "placing beaker"
+  ],
+  "action_counts": {
+    "picking up": 3,
+    "stirring": 51,
+    "placing": 1,
+    "picking up beaker": 49,
+    "picking up glass rod": 48,
+    "placing glass rod": 51,
+    "placing beaker": 50
+  },
+  "split": "train",
+  "annotated_segments": 253,
+  "annotated_episodes": 52,
+  "source_raw_dataset": "E:\\shuangqing_datasets\\0508_5",
+  "source_annotated_release": "E:\\annotated_data\\shuangqing_export_0508_5\\export_0508_5",
+  "package_created_at": "2026-05-27T07:07:49.268517+00:00",
+  "processing_notes": [
+    "The raw LeRobot dataset is preserved without modification under raw/lerobot/0508_5.",
+    "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 beaker and glass rod.",
+    "Chinese action labels in the source export were translated to English in the package copy.",
+    "Post-cleanup 2026-05-28T06:04:24.924830+00:00: removed 51 raw episodes and 250 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": 253,
+    "p2": 0
+  },
+  "object_counts": {
+    "beaker and glass rod": 253
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 253
+  },
+  "environment_counts": {
+    "chemistry lab": 253
+  },
+  "cleanup": {
+    "cleaned_at": "2026-05-28T06:04:24.924830+00:00",
+    "removed_episode_count": 51,
+    "removed_segment_count": 250,
+    "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": [
+    "0-51"
+  ],
+  "raw_episode_count": 52,
+  "raw_total_frames": 48655,
+  "revised_cleanup": {
+    "applied_at": "2026-05-28T08:53:02.834161+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": 250,
+    "restored_raw_episode_count": 52,
+    "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_1_graphics_card_and_imu_testing/README.md

@@ -0,0 +1,82 @@
+# rimbot_0509_1_graphics_card_and_imu_testing Dataset
+
+This package contains the `0509_1` rimbot tactile annotation dataset prepared for Hugging Face upload.
+
+## Summary
+
+- Source collection: `rimbot`
+- Task: graphics card installation/removal and IMU finished product testing
+- Environment: `electronics workbench`
+- Object: `varies by episode range`
+- Split: `train`
+- Raw episodes: 164 available in package copy (source had 369)
+- Annotated episodes: 164
+- Annotated segments: 1087
+- Segment id format: `rbt_epXXXXXX_sXXXXXX`
+
+## Episode Task Ranges
+
+- Episodes 0-109 (dataset indices 0-109): installing and removing a graphics card; object `graphics card, motherboard PCIe slot, and power connector`.
+- Episodes 110-368 (dataset indices 110-368): testing a finished IMU product with a test fixture; object `IMU device and test fixture`.
+
+## Episode Coverage
+
+- Annotated episode ranges: 0-31, 33, 36-37, 39-40, 42, 47, 51, 54-55, 57-59, 61, 63, 65-68, 70, 72, 77, 79, 81, 85, 87, 89, 92, 95-96, 98, 102-104, 110-113, 118-119, 121, 125, 127, 130-131, 133-134, 139, 143, 145, 150, 154-157, 162, 166, 175, 182, 190, 192, 199, 201, 213, 216, 219-220, 224, 227-231, 238, 242, 255, 265, 267, 274, 279, 288-289, 293, 295-296, 300, 305-306, 310, 313, 315, 318, 320, 323, 326-329, 333, 335, 337-368
+- Missing annotated episode count: 205
+- Missing annotated episode ranges: 32, 34-35, 38, 41, 43-46, 48-50, 52-53, 56, 60, 62, 64, 69, 71, 73-76, 78, 80, 82-84, 86, 88, 90-91, 93-94, 97, 99-101, 105-109, 114-117, 120, 122-124, 126, 128-129, 132, 135-138, 140-142, 144, 146-149, 151-153, 158-161, 163-165, 167-174, 176-181, 183-189, 191, 193-198, 200, 202-212, 214-215, 217-218, 221-223, 225-226, 232-237, 239-241, 243-254, 256-264, 266, 268-273, 275-278, 280-287, 290-292, 294, 297-299, 301-304, 307-309, 311-312, 314, 316-317, 319, 321-322, 324-325, 330-332, 334, 336
+- Missing annotated episodes: 32, 34, 35, 38, 41, 43, 44, 45, 46, 48, 49, 50, 52, 53, 56, 60, 62, 64, 69, 71, 73, 74, 75, 76, 78, 80, 82, 83, 84, 86, 88, 90, 91, 93, 94, 97, 99, 100, 101, 105, 106, 107, 108, 109, 114, 115, 116, 117, 120, 122, 123, 124, 126, 128, 129, 132, 135, 136, 137, 138, 140, 141, 142, 144, 146, 147, 148, 149, 151, 152, 153, 158, 159, 160, 161, 163, 164, 165, 167, 168, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 180, 181, 183, 184, 185, 186, 187, 188, 189, 191, 193, 194, 195, 196, 197, 198, 200, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 214, 215, 217, 218, 221, 222, 223, 225, 226, 232, 233, 234, 235, 236, 237, 239, 240, 241, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 256, 257, 258, 259, 260, 261, 262, 263, 264, 266, 268, 269, 270, 271, 272, 273, 275, 276, 277, 278, 280, 281, 282, 283, 284, 285, 286, 287, 290, 291, 292, 294, 297, 298, 299, 301, 302, 303, 304, 307, 308, 309, 311, 312, 314, 316, 317, 319, 321, 322, 324, 325, 330, 331, 332, 334, 336
+- Excluded episode ranges: none
+- Excluded episodes: none
+
+- Raw package episode ranges: 0-31, 33, 36-37, 39-40, 42, 47, 51, 54-55, 57-59, 61, 63, 65-68, 70, 72, 77, 79, 81, 85, 87, 89, 92, 95-96, 98, 102-104, 110-113, 118-119, 121, 125, 127, 130-131, 133-134, 139, 143, 145, 150, 154-157, 162, 166, 175, 182, 190, 192, 199, 201, 213, 216, 219-220, 224, 227-231, 238, 242, 255, 265, 267, 274, 279, 288-289, 293, 295-296, 300, 305-306, 310, 313, 315, 318, 320, 323, 326-329, 333, 335, 337-368
+- Raw removed episode count: 205
+- Raw removed episode ranges: 32, 34-35, 38, 41, 43-46, 48-50, 52-53, 56, 60, 62, 64, 69, 71, 73-76, 78, 80, 82-84, 86, 88, 90-91, 93-94, 97, 99-101, 105-109, 114-117, 120, 122-124, 126, 128-129, 132, 135-138, 140-142, 144, 146-149, 151-153, 158-161, 163-165, 167-174, 176-181, 183-189, 191, 193-198, 200, 202-212, 214-215, 217-218, 221-223, 225-226, 232-237, 239-241, 243-254, 256-264, 266, 268-273, 275-278, 280-287, 290-292, 294, 297-299, 301-304, 307-309, 311-312, 314, 316-317, 319, 321-322, 324-325, 330-332, 334, 336
+- Raw episode indices are intentionally sparse and were not renumbered.
+
+## Labels
+
+Actions:
+
+- `picking up`: 611
+- `installing graphics card`: 76
+- `placing`: 128
+- `removing graphics card`: 25
+- `positioning IMU device`: 86
+- `pressing control button`: 161
+
+Objects:
+
+- `graphics card, motherboard PCIe slot, and power connector`: 506
+- `IMU device and test fixture`: 581
+
+## 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_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.
+
+Legacy/source missing segment files before package normalization:
+
+- `ego_video`: 1087
+- `side_video`: 1087
+
+Skipped duplicate source segment ids: none
+
+## Folder Structure
+
+- `raw/lerobot/0509_1/`: 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.