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.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,221 @@
+---
+pretty_name: ICL Dataset
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- bimanual
+- teleoperation
+- imitation-learning
+size_categories:
+- 1K<n<10K
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# ICL Dataset
+
+Bimanual robot manipulation data collected by human teleoperation on the **YOR** robot,
+in **LeRobot v2.1** format.
+
+**3,149 episodes · 2,385,871 frames · 22.1 hours · 36 tasks · 3 camera views**
+
+Each episode is a single teleoperated attempt at a manipulation task, recorded at 30 fps
+with synchronised proprioception, commanded actions and three camera streams.
+
+---
+
+## ⚠️ Read this before training on it
+
+**This dataset contains failures and unusable episodes, mixed in with the successes.**
+They are not separated on disk — every episode lives in the same `data/` and `videos/`
+directories, distinguished only by the `success` field in `meta/episodes.jsonl`.
+
+| `success` | episodes | frames | meaning |
+|---|---:|---:|---|
+| `success` | 2,715 | 2,069,799 | task completed |
+| `fail` | 329 | 268,438 | genuine attempt, goal not achieved |
+| `invalid` | 105 | 47,634 | not a usable demonstration — the robot never moved, the scene was already in the goal state, or a human hand is resetting the scene |
+
+A naive load gives you **all 3,149**. To train only on successes:
+
+```python
+import json
+
+with open("meta/episodes.jsonl") as f:
+    episodes = [json.loads(l) for l in f if l.strip()]
+
+train = [e["episode_index"] for e in episodes if e["success"] == "success"]
+# -> 2,715 episode indices
+```
+
+The `invalid` episodes should not be treated as failure demonstrations — in most of them
+nothing happens at all, so they are neither a positive nor a useful negative.
+
+---
+
+## Structure
+
+```
+meta/
+  info.json             LeRobot v2.1 header (features, shapes, path templates)
+  episodes.jsonl        one row per episode: index, task, length, outcome, provenance
+  episodes_stats.jsonl  per-episode feature statistics
+  tasks.jsonl           36 task instructions, indexed
+data/chunk-XXX/episode_NNNNNN.parquet                          tabular, one row per frame
+videos/chunk-XXX/observation.images.<cam>/episode_NNNNNN.mp4   h264, 640x480, 30 fps
+```
+
+Chunking is `episode_index // 100`. Cameras are `zed` (scene), `fish0` (left gripper),
+`fish1` (right gripper).
+
+### Per-frame features
+
+| feature | shape | description |
+|---|---|---|
+| `observation.state` | `[15]` | measured proprioception: `lj0..lj6` (left arm joints), `rj0..rj6` (right arm joints), `lift` |
+| `action.left_ee` | `[7]` | commanded left end-effector pose, `[qw,qx,qy,qz,x,y,z]` (quaternion first) |
+| `action.right_ee` | `[7]` | commanded right end-effector pose, same convention |
+| `action.gripper` | `[2]` | commanded `[left, right]` gripper, **0.0 = closed, 1.0 = open** |
+| `action.base_vel` | `[3]` | commanded base velocity `[vx, vy, omega]` |
+| `action.lift_cmd` | `[1]` | commanded lift, `-1 / 0 / 1` as float |
+| `observation.images.zed` | `480x640x3` | scene view (ZED, left eye) |
+| `observation.images.fish0` | `480x640x3` | left-hand gripper fisheye |
+| `observation.images.fish1` | `480x640x3` | right-hand gripper fisheye |
+
+Plus the standard bookkeeping columns: `timestamp`, `frame_index`, `episode_index`,
+`index`, `task_index`.
+
+`observation.state` is **measured** joint state; everything under `action.*` is the
+operator's **commanded** target. Gripper state is therefore in the action space.
+
+---
+
+## Tasks
+
+| id | task (instruction) | episodes | minutes | success | fail | invalid |
+|---:|---|---:|---:|---:|---:|---:|
+| 26 | put the circle on the peg | 322 | 73 | 279 | 14 | 29 |
+| 15 | pick up the orange cube and place it on the plate with the left arm on an uncluttered table | 223 | 32 | 197 | 16 | 10 |
+| 32 | stack the colored octagons | 196 | 166 | 140 | 50 | 6 |
+| 4 | open the gatorade bottle | 131 | 44 | 99 | 31 | 1 |
+| 31 | sort the items into their containers | 122 | 274 | 100 | 19 | 3 |
+| 5 | open the notebook | 121 | 40 | 109 | 12 | 0 |
+| 34 | uncap the blue marker | 117 | 36 | 103 | 14 | 0 |
+| 33 | stack the three cups into a tower | 115 | 147 | 98 | 12 | 5 |
+| 35 | uncap the red marker | 108 | 27 | 102 | 6 | 0 |
+| 1 | clean the plate | 104 | 32 | 103 | 0 | 1 |
+| 0 | assemble the two gears | 79 | 53 | 55 | 16 | 8 |
+| 2 | hit the yellow cube with the mallet using the left arm | 76 | 26 | 63 | 10 | 3 |
+| 25 | put the bottle on the plate with the right arm | 71 | 10 | 67 | 1 | 3 |
+| 30 | put the red chilli into the grocery bag | 68 | 32 | 57 | 10 | 1 |
+| 8 | pass the salt shaker from the left arm to the right arm | 67 | 34 | 49 | 16 | 2 |
+| 29 | put the green pepper into the grocery bag | 66 | 28 | 55 | 9 | 2 |
+| 17 | pick up the orange cube and place it on the plate with the right arm on an uncluttered table | 66 | 8 | 49 | 15 | 2 |
+| 18 | pick up the pumpkin and place it on the plate with the left arm | 64 | 22 | 48 | 14 | 2 |
+| 19 | pick up the pumpkin and place it on the plate with the right arm | 64 | 19 | 51 | 9 | 4 |
+| 28 | put the eggplant into the box with the right arm | 63 | 7 | 57 | 0 | 6 |
+| 23 | place the red chilli in the cup with the left arm | 61 | 17 | 50 | 10 | 1 |
+| 12 | pick up the eggplant and place it on the plate with the left arm | 60 | 9 | 57 | 3 | 0 |
+| 13 | pick up the eggplant and place it on the plate with the right arm | 60 | 9 | 57 | 3 | 0 |
+| 21 | pick up the red chilli and place it on the plate with the right arm | 58 | 11 | 48 | 8 | 2 |
+| 6 | pass the red chilli from the left arm to the right arm | 57 | 14 | 55 | 0 | 2 |
+| 10 | pass the yellow cube from the left arm to the right arm | 57 | 17 | 52 | 4 | 1 |
+| 20 | pick up the red chilli and place it on the plate with the left arm | 57 | 18 | 51 | 4 | 2 |
+| 14 | pick up the orange cube and place it on the plate with the left arm on a cluttered table | 56 | 14 | 48 | 6 | 2 |
+| 7 | pass the red chilli from the right arm to the left arm | 56 | 13 | 55 | 1 | 0 |
+| 9 | pass the salt shaker from the right arm to the left arm | 56 | 23 | 52 | 4 | 0 |
+| 11 | pass the yellow cube from the right arm to the left arm | 56 | 17 | 55 | 1 | 0 |
+| 24 | put the bottle on the plate | 56 | 7 | 51 | 1 | 4 |
+| 22 | place the red chilli in the cup | 55 | 12 | 49 | 6 | 0 |
+| 27 | put the eggplant into the box with the left arm | 55 | 8 | 52 | 3 | 0 |
+| 3 | hit the yellow cube with the mallet using the right arm | 53 | 9 | 52 | 1 | 0 |
+| 16 | pick up the orange cube and place it on the plate with the right arm on a cluttered table | 53 | 16 | 50 | 0 | 3 |
+
+Task labels are **natural-language instructions**: one instruction per task, one
+`task_index` per instruction, used consistently in `meta/tasks.jsonl`,
+`meta/episodes.jsonl` and every parquet.
+
+Left/right arm variants, the two passing directions, and the cluttered vs uncluttered
+orange-cube conditions are deliberately **separate** tasks.
+
+---
+
+## Collection
+
+Recorded on a bimanual YOR robot with an NVIDIA Jetson Orin capturing the cameras. An
+operator teleoperated the robot via VR controllers; the Orin subscribed to the teleop
+state/action stream and synchronised it with the cameras at 30 Hz.
+
+- **Cameras**: one StereoLabs ZED (scene view, left eye) and two Innomaker fisheyes
+  mounted on the grippers, all 640×480 h264.
+- **Action convention**: end-effector poses are quaternion-first `[qw,qx,qy,qz,x,y,z]`.
+  When an arm is not under VR control its `*_ee` target falls back to its measured pose,
+  so the action fields are always well-defined.
+
+### Provenance
+
+Merged from **50 separate collection runs**. Every episode records where it came from:
+
+```json
+{"episode_index": 0, "tasks": ["assemble the two gears"], "length": 1292,
+ "success": "fail",
+ "source_dataset": "2_gear_assembly_20260725_164450", "source_episode": 0}
+```
+
+Episodes reviewed by a human additionally carry `valid`, `reviewed_at` and `reviewed_by`;
+those whose outcome was never adjudicated carry `merged_from_unknown`.
+
+---
+
+## Label quality — please read
+
+The outcome labels are **not uniformly reliable**, and this is the main limitation.
+
+- Labels were recorded by the operator at collection time. Some are wrong — most commonly
+  an episode marked `success` where the robot never moved at all, or where a human hand
+  reset the scene.
+- An automated screening pass flagged 134 episodes as suspected mislabels; a human
+  reviewed all of them and corrected 77. Those carry `reviewed_at`.
+- **The remaining ~3,000 episodes were not individually audited.** The screening pass had
+  roughly 34% recall, so additional mislabelled episodes almost certainly remain.
+- Some `invalid` episodes were explicitly judged unusable by a human; others had no
+  recorded outcome at all and carry `merged_from_unknown: true`.
+
+If label fidelity matters, filter to episodes carrying `reviewed_at` for the subset a
+human has actually confirmed.
+
+---
+
+## Known limitations
+
+- Failures and unusable episodes are interleaved with successes (see the warning above).
+- Outcome labels are only partially audited.
+- No train/validation split is defined — `splits` declares everything as `train`.
+- Camera extrinsics/intrinsics are not published, and the two gripper fisheyes are
+  physically identical models, so left/right assignment relies on the USB port each is
+  plugged into rather than anything recoverable from the files.
+- The three `pass X from … to …` task pairs differ only in word order, so a bag-of-words
+  text encoder may not distinguish the two directions. Key on `task_index` if that matters.
+
+---
+
+## Revision history
+
+**2026-08-05 — full rebuild.** This dataset was rebuilt from source and re-published.
+It supersedes an earlier version that had different episode indices, different task
+indices and 44 slug-style task labels (`[pnp_left_arm]`). Three under-populated tasks
+were dropped in this rebuild — `open the book and scribble in it` (5 episodes, 0
+successes), `stack the six cups into a tower` (7 episodes, 1 success) and `unscrew the
+bottle and water the plant` (1 episode) — removing 13 episodes.
+
+**Any copy downloaded before 2026-08-05 is incompatible**: episode and task indices both
+changed, so a cached copy will not error, it will simply be mislabelled. Re-clone rather
+than pulling incrementally.
+
+## License
+
+**Not specified.** No licence has been chosen for this data, which means downstream use
+is legally ambiguous. If you intend to use it, check with the authors first.

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+  "codebase_version": "v2.1",
+  "robot_type": "yor",
+  "total_episodes": 3149,
+  "total_frames": 2385871,
+  "total_tasks": 36,
+  "total_videos": 9447,
+  "total_chunks": 32,
+  "chunks_size": 100,
+  "fps": 30,
+  "splits": {
+    "train": "0:3149"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "observation.images.zed": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.fps": 30,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.fish0": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.fps": 30,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.fish1": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.fps": 30,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        15
+      ],
+      "names": [
+        "lj0",
+        "lj1",
+        "lj2",
+        "lj3",
+        "lj4",
+        "lj5",
+        "lj6",
+        "rj0",
+        "rj1",
+        "rj2",
+        "rj3",
+        "rj4",
+        "rj5",
+        "rj6",
+        "lift"
+      ]
+    },
+    "action.left_ee": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "qw",
+        "qx",
+        "qy",
+        "qz",
+        "x",
+        "y",
+        "z"
+      ]
+    },
+    "action.right_ee": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "qw",
+        "qx",
+        "qy",
+        "qz",
+        "x",
+        "y",
+        "z"
+      ]
+    },
+    "action.gripper": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": [
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    "action.base_vel": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": [
+        "vx",
+        "vy",
+        "omega"
+      ]
+    },
+    "action.lift_cmd": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": [
+        "lift_cmd"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}