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SeonghuJeon
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3da-unified-data

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robotics
3da
legacy
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Reduce legacy packed mirror to README-only

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Large payloads are reproducible from the local canonical CVLAB1 workspace and staged tar files documented in README.md.

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  1. README.md +56 -123
  2. _small_files/checkpoints/stage1_cscs_68k.pt +0 -3
  3. _small_files/checkpoints/stage1_libero_shallow12_h7_chunk8_4n_l1_h7half_root_24k.pt +0 -3
  4. _small_files/checkpoints/stage1_oxe_r2_362k.pt +0 -3
  5. _small_files/checkpoints/stage1_oxe_scratch_nodroid_140k.pt +0 -3
  6. _small_files/checkpoints/stage1_oxe_scratch_nodroid_randomstride_250k.pt +0 -3
  7. _small_files/checkpoints/stage1_oxe_shallow12_simvla_native_h8only_102k.pt +0 -3
  8. _small_files/checkpoints/stage2_gld_115k.pt +0 -3
  9. _small_files/checkpoints/track4world_da3.pth +0 -3
  10. _small_files/data/libero_plus/_stats/libero_plus.json +0 -1
  11. _small_files/data/libero_plus/_stats/libero_plus_hz20.json +0 -65
  12. _small_files/data/libero_plus/_stats/libero_plus_hz5.json +0 -1
  13. _small_files/data/libero_plus/_stats/libero_plus_proprio.json +0 -29
  14. _small_files/data/openx_lerobot/_stats/austin_buds_dataset.json +0 -65
  15. _small_files/data/openx_lerobot/_stats/austin_buds_dataset_hz5.json +0 -65
  16. _small_files/data/openx_lerobot/_stats/austin_buds_dataset_proprio.json +0 -65
  17. _small_files/data/openx_lerobot/_stats/austin_sailor_dataset.json +0 -65
  18. _small_files/data/openx_lerobot/_stats/austin_sailor_dataset_hz10.json +0 -65
  19. _small_files/data/openx_lerobot/_stats/austin_sailor_dataset_hz20.json +0 -65
  20. _small_files/data/openx_lerobot/_stats/austin_sailor_dataset_hz5.json +0 -65
  21. _small_files/data/openx_lerobot/_stats/austin_sailor_dataset_proprio.json +0 -65
  22. _small_files/data/openx_lerobot/_stats/austin_sirius_dataset.json +0 -65
  23. _small_files/data/openx_lerobot/_stats/austin_sirius_dataset_hz10.json +0 -65
  24. _small_files/data/openx_lerobot/_stats/austin_sirius_dataset_hz20.json +0 -65
  25. _small_files/data/openx_lerobot/_stats/austin_sirius_dataset_hz5.json +0 -65
  26. _small_files/data/openx_lerobot/_stats/austin_sirius_dataset_proprio.json +0 -65
  27. _small_files/data/openx_lerobot/_stats/bc_z.json +0 -65
  28. _small_files/data/openx_lerobot/_stats/bc_z_hz10.json +0 -65
  29. _small_files/data/openx_lerobot/_stats/bc_z_hz5.json +0 -65
  30. _small_files/data/openx_lerobot/_stats/bc_z_proprio.json +0 -65
  31. _small_files/data/openx_lerobot/_stats/berkeley_autolab_ur5.json +0 -65
  32. _small_files/data/openx_lerobot/_stats/berkeley_autolab_ur5_hz5.json +0 -65
  33. _small_files/data/openx_lerobot/_stats/berkeley_autolab_ur5_proprio.json +0 -65
  34. _small_files/data/openx_lerobot/_stats/berkeley_cable_routing.json +0 -65
  35. _small_files/data/openx_lerobot/_stats/berkeley_cable_routing_hz10.json +0 -65
  36. _small_files/data/openx_lerobot/_stats/berkeley_cable_routing_hz5.json +0 -65
  37. _small_files/data/openx_lerobot/_stats/berkeley_cable_routing_proprio.json +0 -65
  38. _small_files/data/openx_lerobot/_stats/berkeley_fanuc_manipulation.json +0 -65
  39. _small_files/data/openx_lerobot/_stats/berkeley_fanuc_manipulation_hz10.json +0 -65
  40. _small_files/data/openx_lerobot/_stats/berkeley_fanuc_manipulation_hz5.json +0 -65
  41. _small_files/data/openx_lerobot/_stats/berkeley_fanuc_manipulation_nonidle_ranges.json +0 -1662
  42. _small_files/data/openx_lerobot/_stats/berkeley_fanuc_manipulation_proprio.json +0 -65
  43. _small_files/data/openx_lerobot/_stats/bridge.json +0 -65
  44. _small_files/data/openx_lerobot/_stats/bridge_hz5.json +0 -65
  45. _small_files/data/openx_lerobot/_stats/bridge_proprio.json +0 -65
  46. _small_files/data/openx_lerobot/_stats/cmu_play_fusion.json +0 -65
  47. _small_files/data/openx_lerobot/_stats/cmu_play_fusion_proprio.json +0 -72
  48. _small_files/data/openx_lerobot/_stats/cmu_stretch.json +0 -65
  49. _small_files/data/openx_lerobot/_stats/cmu_stretch_hz5.json +0 -65
  50. _small_files/data/openx_lerobot/_stats/cmu_stretch_nonidle_ranges.json +0 -542
README.md CHANGED
@@ -10,156 +10,89 @@ tags:
10
 
11
  # 3DA Unified Data Legacy Packed Mirror
12
 
13
- This dataset repository is a legacy packed mirror used to bootstrap the 3DA
14
- robotics workspace. It stores large tar archives plus a few direct convenience
15
- files. Large payloads may be removed from this repository after the data is
16
- split into dedicated repositories.
17
 
18
- Generated audit date: 2026-05-16.
19
 
20
- ## Current Payload Layout
21
 
22
  ```text
23
  SeonghuJeon/3da-unified-data
24
- ├── openx_rest_lerobot.tar # OpenX / OXE non-DROID LeRobot shard
25
- ├── openx_rest_BrunoM42.tar # OpenX / OXE non-DROID BrunoM42 shard
26
- ├── openx_rest_misc.tar # OpenX / OXE non-DROID misc shard
27
- ├── mimicgen.tar # MimicGen raw/aligned training files
28
- ├── libero_eval.tar # LIBERO eval assets
29
- ├── small_files.tar # checkpoints, stats, configs, manifests
30
- ├── libero_noop/
31
- │ ├── libero_10/*.hdf5
32
- │ ├── libero_goal/*.hdf5
33
- │ ├── libero_object/*.hdf5
34
- │ ├── libero_spatial/*.hdf5
35
- │ └── _smoke_libero_spatial/*.hdf5
36
- ├── _small_files/
37
- │ ├── checkpoints/*.pt
38
- │ ├── checkpoints/track4world_da3.pth
39
- │ ├── data/openx_lerobot/_stats/*.json
40
- │ ├── data/libero_plus/_stats/*.json
41
- │ └── manifests/*.json
42
- ├── extract.sh
43
- └── .gitattributes
44
  ```
45
 
46
- Approximate payload categories at audit time:
47
 
48
- | Category | Approx size | Notes |
49
- |---|---:|---|
50
- | OpenX/OXE non-DROID archives | ~561 GiB | `openx_rest_*.tar`; no exact replacement repo in `SeonghuJeon` at audit time |
51
- | MimicGen raw/archive payload | ~139 GiB | `mimicgen.tar`; depth sidecars live elsewhere, but raw HDF5 archive is not duplicated elsewhere |
52
- | LIBERO raw/no-op/eval assets | ~298 GiB | `libero_eval.tar` plus `libero_noop/*`; depth sidecars live elsewhere, raw HDF5 is not duplicated elsewhere |
53
- | Small files/checkpoints/stats | ~136 GiB | `small_files.tar` plus direct `_small_files/*` convenience entries |
54
-
55
- ## Replacement / Related Repositories
56
-
57
- | Payload | Replacement or related repo | Status at audit time |
58
- |---|---|---|
59
- | DROID preprocessed RGB + framecache | `SeonghuJeon/droid-1.0.1-preprocessed` | Split out and available separately |
60
- | DROID loader/stat helper | `SeonghuJeon/droid-rgb-loader` | Available separately |
61
- | OpenX stats | `SeonghuJeon/da3-openx-stats` | Available separately, but not byte-identical for every legacy stats file |
62
- | MimicGen aligned depth sidecars | `SeonghuJeon/mimicgen-aligned-gt-depth` | Available separately; this is depth only, not raw MimicGen HDF5 |
63
- | MimicGen init states | `SeonghuJeon/mimicgen-init-states` | Available separately; tiny helper payload only |
64
- | LIBERO aligned depth sidecars | `SeonghuJeon/libero-gt-depth-aligned-hide-sites-fast` | Available separately; this is depth only, not raw LIBERO HDF5 |
65
- | OXE/MimicGen/RoboCasa current checkpoints | `SeonghuJeon/oxe-shallow12-simvla-native-h8-mb4-3gpu-r1`, `SeonghuJeon/oxe-mimicgen-all-h1to8-teacherdepth-300k`, `SeonghuJeon/3da-unified-oxe-mimicgen-pretrain-checkpoints` | Available separately for selected runs |
66
- | RoboCasa365 depth/RGB/framecache/index/stats/config | `SeonghuJeon/robocasa365-base-static-depth-256-2view-target100-training-assets` | Dedicated replacement repo; upload may be in progress |
67
-
68
- Exact LFS duplicate found outside this repo at audit time:
69
 
70
  ```text
71
- _small_files/checkpoints/stage1_cscs_68k.pt
72
- -> SeonghuJeon/da3-mimicgen-chunkagg-4node-robot-20260329-094619/checkpoints/0068000.pt
 
 
 
 
 
 
 
 
 
 
 
 
 
73
  ```
74
 
75
- No exact duplicate was found for the large `openx_rest_*.tar`, `mimicgen.tar`,
76
- `libero_eval.tar`, or `libero_noop/*` payloads in the `SeonghuJeon` account at
77
- audit time.
78
-
79
- ## Recreate The Packed Mirror From A Local Workspace
80
-
81
- Expected local workspace layout:
82
 
83
  ```text
84
- $PROJECT/
85
- ├── data/
86
- │ ├── openx_lerobot/
87
- │ ├── mimicgen/
88
- │ └── libero/
89
- ├── checkpoints/
90
- ├── model_stats/
91
- ├── configs/
92
- └── 3DA_unified/
93
  ```
94
 
95
- Create a staging directory matching the legacy layout:
 
 
96
 
97
  ```bash
98
- PROJECT=/NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang
99
- STAGING=$PROJECT/3da_unified_data_hf_staging
100
- mkdir -p "$STAGING"
101
-
102
- # OpenX/OXE shards: adjust include/exclude lists to match the exact split used
103
- # by the training registry.
104
- tar -cf "$STAGING/openx_rest_lerobot.tar" -C "$PROJECT/data" openx_lerobot
105
-
106
- # MimicGen raw/aligned files.
107
- tar -cf "$STAGING/mimicgen.tar" -C "$PROJECT/data" mimicgen
108
-
109
- # LIBERO eval/raw assets.
110
- tar -cf "$STAGING/libero_eval.tar" -C "$PROJECT/data" libero
111
-
112
- # Small files used by training/eval bootstrapping.
113
- mkdir -p "$STAGING/_small_files"
114
- rsync -a "$PROJECT/checkpoints" "$STAGING/_small_files/"
115
- rsync -a "$PROJECT/data/openx_lerobot/_stats" "$STAGING/_small_files/data/openx_lerobot/"
116
- rsync -a "$PROJECT/3DA_unified/configs" "$STAGING/_small_files/" || true
117
- rsync -a "$PROJECT/3DA_unified/model_stats" "$STAGING/_small_files/" || true
118
- tar -cf "$STAGING/small_files.tar" -C "$STAGING" _small_files
119
  ```
120
 
121
- If the historical split into `openx_rest_lerobot.tar`,
122
- `openx_rest_BrunoM42.tar`, and `openx_rest_misc.tar` is required, create those
123
- three tar files from the exact historical shard list before upload.
124
-
125
- ## Upload Commands
126
-
127
- Use Hugging Face Xet for large files:
128
 
129
  ```bash
130
- export HF_XET_HIGH_PERFORMANCE=1
131
- huggingface-cli login
132
- huggingface-cli repo create SeonghuJeon/3da-unified-data --type dataset --yes || true
133
- huggingface-cli upload-large-folder SeonghuJeon/3da-unified-data "$STAGING" --repo-type dataset
134
  ```
135
 
136
- Python equivalent:
137
-
138
- ```python
139
- from huggingface_hub import HfApi
140
-
141
- api = HfApi(token="hf_...")
142
- api.create_repo(
143
- repo_id="SeonghuJeon/3da-unified-data",
144
- repo_type="dataset",
145
- exist_ok=True,
146
- )
147
- api.upload_large_folder(
148
- repo_id="SeonghuJeon/3da-unified-data",
149
- repo_type="dataset",
150
- folder_path="/path/to/3da_unified_data_hf_staging",
151
- )
152
- ```
153
 
154
- ## Download / Extract Legacy Archives
 
 
 
155
 
156
- When the large payloads exist in this repo, the project helper can download and
157
- extract them:
158
 
159
  ```bash
160
- cd /path/to/3DA_unified
161
  python scripts/download_3da_unified_data.py --repo-id SeonghuJeon/3da-unified-data --project-root /path/to/project --data-root /path/to/project/data --staging /path/to/project/3da_hf_staging
162
  ```
163
-
164
- If this repository has been reduced to README-only, use the dedicated repos
165
- listed above instead of this packed mirror.
 
10
 
11
  # 3DA Unified Data Legacy Packed Mirror
12
 
13
+ This dataset repository used to host a packed bootstrap mirror for the 3DA
14
+ robotics workspace. The large payloads were intentionally removed to reduce HF
15
+ storage usage. The local canonical workspace still contains the source data and
16
+ staged tar files needed to recreate the mirror.
17
 
18
+ Audit / cleanup date: 2026-05-16.
19
 
20
+ ## Removed Payload Layout
21
 
22
  ```text
23
  SeonghuJeon/3da-unified-data
24
+ ├── openx_rest_lerobot.tar # openx_lerobot/lerobot minus droid + _stats + _cache
25
+ ├── openx_rest_BrunoM42.tar # openx_lerobot/BrunoM42
26
+ ├── openx_rest_misc.tar # openx_lerobot/tailong-wu + HuggingFaceVLA
27
+ ├── mimicgen.tar # data/mimicgen
28
+ ├── libero_eval.tar # data/libero eval assets
29
+ ├── small_files.tar # checkpoints, model_stats, configs, stats, manifests
30
+ ├── libero_noop/ # replayed LIBERO no-op HDF5s
31
+ ├── _small_files/ # direct convenience copies of selected small files
32
+ └── extract.sh
 
 
 
 
 
 
 
 
 
 
 
33
  ```
34
 
35
+ ## Local Canonical Sources
36
 
37
+ The payloads can be recreated from the local CVLAB1 workspace:
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
38
 
39
  ```text
40
+ /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/
41
+ ├── data/openx_lerobot/lerobot
42
+ ├── data/openx_lerobot/_stats
43
+ ├── data/openx_lerobot/_cache
44
+ ├── data/openx_lerobot/BrunoM42
45
+ ├── data/openx_lerobot/tailong-wu
46
+ ├── data/openx_lerobot/HuggingFaceVLA
47
+ ├── data/mimicgen
48
+ ├── data/libero
49
+ ├── data/libero_noop
50
+ ├── checkpoints
51
+ ��── 3DA_unified/
52
+ ├── configs/training
53
+ ├── model_stats
54
+ └── scripts/upload_to_hf.py
55
  ```
56
 
57
+ At cleanup time, these staged files already existed locally:
 
 
 
 
 
 
58
 
59
  ```text
60
+ /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3da_hf_staging/
61
+ ├── openx_rest_lerobot.tar
62
+ ├── openx_rest_BrunoM42.tar
63
+ ├── openx_rest_misc.tar
64
+ ├── mimicgen.tar
65
+ ├── libero_eval.tar
66
+ ├── small_files.tar
67
+ └── extract.sh
 
68
  ```
69
 
70
+ ## Recreate / Reupload
71
+
72
+ Dry-run the local structure and estimated sizes:
73
 
74
  ```bash
75
+ cd /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3DA_unified
76
+ python scripts/upload_to_hf.py --repo-id SeonghuJeon/3da-unified-data --dry-run
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
77
  ```
78
 
79
+ Rebuild the tar files from local sources and upload them:
 
 
 
 
 
 
80
 
81
  ```bash
82
+ cd /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3DA_unified
83
+ HF_XET_HIGH_PERFORMANCE=1 python scripts/upload_to_hf.py --force-refresh --repo-id SeonghuJeon/3da-unified-data
 
 
84
  ```
85
 
86
+ If the tar files in `/NHNHOME/.../jisang/3da_hf_staging` are still valid and no
87
+ refresh is needed, upload the staging directory directly:
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
88
 
89
+ ```bash
90
+ cd /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3DA_unified
91
+ HF_XET_HIGH_PERFORMANCE=1 huggingface-cli upload-large-folder SeonghuJeon/3da-unified-data /NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/3da_hf_staging --repo-type dataset
92
+ ```
93
 
94
+ ## Download If Reuploaded
 
95
 
96
  ```bash
 
97
  python scripts/download_3da_unified_data.py --repo-id SeonghuJeon/3da-unified-data --project-root /path/to/project --data-root /path/to/project/data --staging /path/to/project/3da_hf_staging
98
  ```
 
 
 
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