diff --git a/trajs/INPUT_SOURCE_PROVENANCE.md b/trajs/INPUT_SOURCE_PROVENANCE.md new file mode 100644 index 0000000000000000000000000000000000000000..46144f0f7e51e79c307ec6257c2abdf602c32974 --- /dev/null +++ b/trajs/INPUT_SOURCE_PROVENANCE.md @@ -0,0 +1,57 @@ +# Input-source provenance & 2026-08-08 re-pack + +Every episode in `trajs/parrot/` and `trajs/parrot_60Hz/` now carries +`_meta.input_source`: + +| value | meaning | +| --- | --- | +| `quest_hand` | Quest bare-hand tracking (single-process teleop lane, or the netsim chain's `quest-hand` source) | +| `quest_controller_manus` | Quest controllers for wrists + Manus glove for fingers (netsim chain, `quest-controller` source) | + +## How historical episodes were labelled + +Recordings made before 2026-08-08 carried no source field (the netsim wire +protocol is source-blind), so the label was reconstructed and then confirmed +by the operator: + +1. **Code history bounds.** The Manus netsim source graph first exists at + Parrot `ea0d1ab` (2026-08-04 15:50); the console's source menu with + `quest-controller` as default landed 2026-08-05 21:01 (WUJI_SimBench #96). + Every netsim take before 08-04 can only be bare-hand. +2. **Motion fingerprints.** Ring↔pinky joint-trajectory correlation + (Quest hand-tracking couples them, median ≈0.92 on 150 known bare-hand + console takes; the glove measures them independently, ≈0.43 on the late + sessions) and 40-channel activity profiles (glove sessions drive thumb + joint1 far more, finger3/4/5 joint1+joint4 far less). +3. **Operator confirmation** of the one ambiguous session. + +**Boundary: netsim sessions >= 2026-08-06 13:25 (user-confirmed 2026-08-08).** +Sessions at/after it are `quest_controller_manus`; every earlier take +(console and netsim) is `quest_hand`. Backfilled episodes carry +`_meta.input_source_provenance = backfilled_2026-08-08` (pre-existing +episodes) or `labelled_2026-08-08` (episodes first published here); takes +recorded after WUJI_SimBench #102 are stamped at collection time instead. + +## What else this re-pack changed + +- Base revision: `main@51f74d2e1c1b`. All 62 bundles rewritten in place; + no bundle was moved or removed. Both cadence roots are kept as equals: + `trajs/parrot/` = 100 Hz (and legacy unstamped = 100 Hz), `trajs/parrot_60Hz/` = 60 Hz. + Readers keep their existing preference (`trajs/parrot` first). +- Cadence stamps normalized: every bundle's metadata now carries explicit + `control_freq_hz` / `sim_dt` / `decimation` (100 Hz bundles gained the + stamp; it equals the task-authored cadence, so replay is unchanged). +- 697 newly replay-verified episodes merged in (state-replay through the + task checker, mujoco 3.8.0 / dm_control 1.0.40; dedup by rounded action-md5). +- Re-serialized under numpy 1.x: the previous uploads were numpy-2 pickles, + unreadable under the pinned delivery stack (numpy<2) without a + `numpy._core` shim. numpy-1 pickles load under both numpy 1 and 2. + +## Totals + +- bundles: 62 (2 new) +- episodes: 4559 (+697 in this PR) +- by source: quest_hand 3869 · quest_controller_manus 690 + +Per-bundle counts live in the PR description; the analysis notebook and the 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