| { |
| "generated_at_utc": "2026-07-20T05:48:41.076622+00:00", |
| "status": "pass", |
| "stats_status": "complete", |
| "source_frames": 368563, |
| "source_episodes": 3439, |
| "source_state_shape": [ |
| 368563, |
| 9 |
| ], |
| "source_action_shape": [ |
| 368563, |
| 9 |
| ], |
| "source_nonterminal_action_equals_next_state_bitwise": true, |
| "source_terminal_action_equals_terminal_state_bitwise": true, |
| "canonical_action_vs_source_bitwise_equal": true, |
| "canonical_action_vs_joint_abs_bitwise_equal": true, |
| "both_fingers_all_spaces_bitwise_equal": true, |
| "selected_views_only": true, |
| "stored_arrays_readback_bitwise_equal": true, |
| "nonconverted_data_columns_arrow_equal": true, |
| "numeric_thresholds": { |
| "position_m": 1e-05, |
| "rotation_rad": 0.0001 |
| }, |
| "numeric_metrics": { |
| "quat_vs_source_fk_max_position_m": 4.7349653313698595e-08, |
| "quat_vs_source_fk_max_rotation_rad": 1.0323827311807144e-07, |
| "rot6d_vs_source_fk_max_position_m": 4.7349653313698595e-08, |
| "rot6d_vs_source_fk_max_rotation_rad": 5.960464477539064e-08, |
| "delta_vs_source_fk_max_position_m": 2.7600587847167534e-08, |
| "delta_vs_source_fk_max_rotation_rad": 1.429269171748377e-07, |
| "quat_norm_max_abs_error": 1.1920928955078125e-07, |
| "rot6d_col_norm_max_abs_error": 5.960464477539063e-08, |
| "rot6d_col_dot_max_abs": 8.940696716308594e-08 |
| }, |
| "robot_only_kinematic": { |
| "status": "pass", |
| "source_joint_branch_equivalence_status": "pass", |
| "counts": { |
| "episodes": 8, |
| "numeric_pass": 8, |
| "target_equivalence_pass": 8, |
| "kinematic_equivalence_pass": 8, |
| "strict_ik_pass": 8 |
| }, |
| "report": "meta/robot_only_kinematic_report.json", |
| "note": "Representation equivalence is the conversion criterion. A partial source-joint branch result can occur because 7-DOF IK is redundant and local DLS may select a different branch." |
| }, |
| "simulator_canary": { |
| "status": "pending", |
| "note": "Full ARNOLD scene replay is a separate validation stage." |
| }, |
| "stats_verification": { |
| "status": "pass", |
| "lerobot_version": "0.6.0", |
| "frame_count": 368563, |
| "numeric_fields_checked": 12, |
| "direct_float64_min_max_mean_std_max_abs_difference": 0.0, |
| "action_and_joint_abs_stats_exactly_equal": true, |
| "all_numeric_stats_rewritten_from_output_parquet": true, |
| "repaired_at_utc": "2026-07-20T05:50:17.388171+00:00" |
| }, |
| "video_sample_decode": { |
| "status": "pass", |
| "backend": "pyav", |
| "fields": { |
| "observation.images.front": { |
| "status": "pass", |
| "file": "videos/observation.images.front/chunk-000/file-000.mp4", |
| "shape_hwc": [ |
| 480, |
| 480, |
| 3 |
| ] |
| }, |
| "observation.images.left": { |
| "status": "pass", |
| "file": "videos/observation.images.left/chunk-000/file-000.mp4", |
| "shape_hwc": [ |
| 480, |
| 480, |
| 3 |
| ] |
| }, |
| "observation.images.wrist": { |
| "status": "pass", |
| "file": "videos/observation.images.wrist/chunk-000/file-000.mp4", |
| "shape_hwc": [ |
| 480, |
| 480, |
| 3 |
| ] |
| } |
| } |
| }, |
| "full_dataset_audit": { |
| "status": "pass", |
| "report": "meta/full_validation_report.json", |
| "all_39_mp4_full_decode": true |
| } |
| } |
|
|
