Remove implementation commentary, historical metadata notes, transform notation, naming-alias prose and update-scope language. Retain the TCP definitions, units and axes, complete hand-joint order, tactile frame and units, and one front-view coordinate illustration.
Retains the single HOME front-view illustration and removes seven coordinate close-up PNGs and their README references. TCP definitions, axis directions and units, the complete hand-joint mapping, and elastomer-frame tactile units remain unchanged. Recorded data, videos and annotations are untouched.
Document TCP frames, hand joint mapping and tactile units
Clarifies observed TCP reference frames, axis directions, metre/radian units and rotation-vector representation; documents the 22-joint hand mapping and elastomer-frame tactile wrench units (N and N*m). Adds HOME-pose Isaac Sim coordinate illustrations and a machine-readable joint mapping. Camera diagrams show nominal URDF frames only. Recorded data, videos, annotations and calibration parameter packages are unchanged.
Task-string changes only; no data, video, segment or subtask_index changes.
- DealingtheCards -> Card Dealing (653 episodes), "Stack the Two Blocks." -> "Stack the Two Blocks" (383), brush_cup -> Brush Cup (3). The renamed task strings are updated in annotations, tasks.parquet, subtasks.parquet, the episode tasks column and the v2.1 jsonl tables; no task_index changes.
Previous revision: ac26a631f84db37d5ef8c0a8aa512d298eb3bbfd
Language and subtask-index changes only.
- fold_and_close_box: 415 episodes named "fold_box" renamed "Fold Flat Box into Closed Box" (task name and task strings only; segments unchanged).
- reorient_and_relocate_carton/season_POC22050_2026_06_02_15_42_17_train (94 episodes): subtask intervals taken from the annotators' corrected goal track (2026-08-19); frame subtask_index and its stats recomputed.
- README: language segments 224,087 and covered frames updated to the current annotations.
Previous revision: c8032fd891e3f6f19b0d4886793579c1dce5eea7
13 days ago
Move three fold-from-flat seasons from close_kraft_paper_box to fold_and_close_box
The three POC22027 2026-05-20 seasons (160 episodes) start from a flat sheet and fold the whole box, the fold_and_close_box task; their language already said so. Files are moved unchanged. close_kraft_paper_box now holds only the press-to-close task.
- close_kraft_paper_box: 5 seasons / 645 episodes -> 2 / 485
- fold_and_close_box: 7 seasons / 537 episodes -> 10 / 697
- README task table updated. Totals unchanged.
Previous revision: 034e3ec49f6ada72717e6fa12ec8775cde64a11e
Add step subtasks to per-hand-only episodes; align frame subtask_index in tic-tac-toe
Language and subtask-index changes only; no state, action, tactile or video data changes.
- 527 episodes in 7 tasks had only per-hand action descriptions (no instruction, success criteria or skill labels): deal_playing_cards (283), hammer_nails (154), reposition_and_stack_blocks (63), fit_trash_bag_into_bin (23), rotate_bottle_cap (2), cover_ball_with_cup (1), insert_knife_into_cutlery_bin (1). Each now has step subtasks with skill labels and the task fields of fully annotated episodes of the same task, with step intervals aligned by joint motion and fingertip contact. The per-hand descriptions are kept with label hand_actions.
- 11 of those episodes visibly fail (checked on video). They keep only the steps that happen, and an `error` segment with a short note covers the failure frames.
- play_tic_tac_toe (521) and sweep_waste_into_dustpan/season_POC22054_2026_05_30_11_16_03_train episode 0: frame-level subtask_index now follows their step subtasks.
- transfer_salt_between_cups_with_s…
16 days ago
Re-time placeholder subtask intervals in 112 episodes
112 episodes in six tasks had subtask intervals on a fixed 100-frame grid (0-99, 100-199, ...) instead of following the motion. The intervals now come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, spot-checked on the head camera. Subtask text is unchanged.
- annotations.jsonl / annotation_cache.jsonl (v3.0 and v2.1): new start_step / end_step, and a timing_correction note on each re-timed episode.
- Data parquet (v3.0 files and v2.1 episode files): per-frame subtask_index follows the new intervals. No other column changes.
- Five B-scored episodes that fail get an `error` segment over the failure frames (with a short note).
- subtask_index stats in meta/episodes, meta/stats.json and v2.1 episodes_stats.jsonl recomputed.
- README: frames covered by language segments 28,897,909 -> 28,920,254.
Tasks: sweep_waste_into_dustpan (81), fold_and_close_box (18), clean_garment_with_lint_roller (8), empty_dustpan_into_bin (2), nest_cups (2), reloc…
17 days ago
Correct language annotations (place_coffee_filter_in_dripper, one sweep episode), add tic-tac-toe step subtasks; update dataset card
Language-only fix; no data or video files change.
- place_coffee_filter_in_dripper (21 seasons, 784 episodes): text described placing pens in a holder; now describes the coffee-filter task shown in the video (from the raw annotation files). Segment intervals unchanged.
- sweep_waste_into_dustpan/season_POC22054_2026_05_30_11_16_03_train episode 0: sweep text replaced with the dustpan-emptying text its video shows.
- play_tic_tac_toe (521 episodes): step subtasks with skill labels, instruction and success criteria added; per-hand descriptions kept (label hand_actions).
- README: segment counts updated; field descriptions note that the torso joint-torque dims and the TCP force/torque slots are 0.
Previous revision: 6b48181a41d8836692fb1204cc60ade64e107d20
18 days ago
Correct dataset license to CC BY-NC 4.0 and prohibit commercial use
