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SCHEMA.md

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+# Human-1M · LeRobot v3.0 field reference
+
+A complete sample dataset has the following structure.
+
+```text
+sample_dataset/
+├── data/
+│   └── chunk-000/file-000.parquet
+├── meta/
+│   ├── info.json
+│   ├── episodes/chunk-000/file-000.parquet
+│   ├── tasks.parquet
+│   ├── subtasks.parquet
+│   ├── environments.parquet
+│   └── scenes.parquet
+└── videos/
+    └── observation.images.{camera}/
+        └── chunk-000/file-000.mp4
+```
+
+## Shard info
+
+| Field | Type / shape | Meaning |
+|---|---|---|
+| `codebase_version` | string | LeRobot v3.0. |
+| `data_format_version` | string | Human-1M format version declared by the delivery. |
+| `total_episodes` | integer | Episode count within this shard. |
+| `fps` | number > 0 | Delivered frame rate; resolve timing from the episode and stream metadata. |
+| `data_path` | path template | Relative path template for frame Parquet files. |
+| `video_path` | path template | Relative path template for per-camera MP4 files. |
+| `features` | mapping | Feature names, dtypes, and shapes, including the available camera streams. |
+
+## Frame data
+
+| Field | Type / shape | Meaning |
+|---|---|---|
+| `index` | int64 | Index identifying a frame row in the dataset. |
+| `episode_index` | int64 | Shard-local episode reference; join to episode metadata. |
+| `frame_index` | int64 | Frame position inside the episode. |
+| `timestamp` | float | Frame timestamp in seconds, using the delivery clock convention. |
+| `task_index` | int64 | Reference to the T1 episode-level task instruction. |
+| `subtask_index` | int64 | Reference to the T2 subtask label; preserve explicit segment boundaries separately. |
+| `observation.state.hand_left_cam` | 21 × 3 float32 | Left-hand joint positions in the camera frame, in metres; stored as 63 values. |
+| `observation.state.hand_right_cam` | 21 × 3 float32 | Right-hand joint positions in the camera frame, in metres; stored as 63 values. |
+| `observation.state.hand_left_cam_rotation` | 21 × 4 float32 | Left-hand per-joint quaternions in (qx, qy, qz, qw) order; stored as 84 values. |
+| `observation.state.hand_right_cam_rotation` | 21 × 4 float32 | Right-hand per-joint quaternions in (qx, qy, qz, qw) order; stored as 84 values. |
+| `observation.state.camera_position` | 3 float32 | Camera translation in the world frame, in metres. |
+| `observation.state.camera_rotation` | 4 float32 | Camera orientation in the world frame, (qx, qy, qz, qw). |
+| `environment_index` | int64 | Reference to the environment dictionary. |
+| `scene_index` | int64 | Reference to the scene dictionary. |
+| `scene_id` | identifier | Consistent anonymous scene identifier. |
+| `collector_id` | identifier | Consistent anonymous collector identifier. |
+| `left_hand_mask / right_hand_mask` | int64, 0 or 1 | Separate per-hand presence indicators. |
+| `left_hand_confidence / right_hand_confidence` | float | Per-hand tracking confidence; consult the supplied confidence convention. |
+
+## Episode metadata
+
+| Field | Type / shape | Meaning |
+|---|---|---|
+| `episode_index` | int64 | Shard-local episode index; not the globally unique episode ID. |
+| `episode_id` | string | Stable, globally unique episode identifier after consistent anonymization. |
+| `length` | int64 | Number of frames in the episode. |
+| `data/chunk_index · data/file_index` | int64 | Locate the episode frame-data file through info.json. |
+| `dataset_from_index · dataset_to_index` | int64 | Frame-row interval, with an exclusive upper bound. |
+| `meta/episodes/chunk_index · meta/episodes/file_index` | int64 | Location of the episode metadata record. |
+| `videos/observation.images.{cam}/chunk_index · file_index` | int64 | Locate the MP4 for each available camera using video_path. |
+| `videos/observation.images.{cam}/from_timestamp · to_timestamp` | seconds | Episode interval inside that camera’s concatenated video. These are not subtask boundaries. |
+| `camera_intrinsics/{cam}` | calibration parameters | Per-episode camera calibration. Use the camera model supplied for the rig; do not assume every camera uses the same projection. |
+| `camera_extrinsics/T_{i}_{j}` | rigid transform | Camera j expressed in camera i’s coordinate frame. Interpret the delivered transform convention. |
+| `task_diversity_id` | string | Consistent reference to the task-diversity catalog. |
+| `rig_id` | string | Recording-rig identifier, consistently anonymized. |
+| `country` | string | ISO 3166-1 alpha-2 recording country code. |
+| `capture_privacy` | public \| private | Declared recording-environment privacy category. Do not infer it solely from the broad environment label. |
+| `vendor_id` | string | Stable anonymous collection-source identifier on every episode row in meta/episodes/*.parquet, including nested chunk files. |
+
+## Language & context
+
+| Field | Type / shape | Meaning |
+|---|---|---|
+| `tasks.parquet: task + task_index` | text index + integer | T1: episode-level natural-language task instruction and its local dictionary index. |
+| `subtasks.parquet: subtask + subtask_index` | text index + integer | T2: natural-language subtask description and its label reference. |
+| `subtasks.parquet: episode_index` | integer | Episode containing the annotation occurrence. |
+| `subtasks.parquet: timestamp_start · timestamp_end` | seconds | Annotation occurrence boundaries in the episode timestamp convention. Adjacent identical descriptions can remain separate rows. |
+| `subtasks.parquet: source_id` | string | Anonymous annotation-provenance identifier. |
+| `environments.parquet: environment + environment_index` | text index + integer | Local environment description and broad environment category. |
+| `scenes.parquet: scene + scene_index` | text index + integer | Scene description and the local scene lookup index. |
+
+## Video streams
+
+| Field | Type / shape | Meaning |
+|---|---|---|
+| `observation.images.main` | MP4 | Main monocular egocentric video; a stereo delivery may also supply main as the left-view alias. |
+| `observation.images.main_left / main_right` | MP4 | Left and right egocentric streams for stereo capture. |
+| `observation.images.wrist_left / wrist_right` | MP4, when present | Left and right wrist-camera streams. |
+| `observation.images.main_add{k}` | MP4, when present | Additional main camera streams. |
+
+Source-specific missing fields remain explicit in each sample. Video from_timestamp/to_timestamp identifies the episode interval inside a video file; it is not a subtask boundary.

assets/stereo_reconstruction.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:113386ef1d3f2797dec445a304f55a1e349e7b8970e5f15135c5bb0fdaf9edd0
+size 7918988

data/schema.json

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+{
+  "basis": "Human-1M \u00b7 LeRobot v3.0",
+  "tree": "sample_dataset/\n\u251c\u2500\u2500 data/\n\u2502   \u2514\u2500\u2500 chunk-000/file-000.parquet\n\u251c\u2500\u2500 meta/\n\u2502   \u251c\u2500\u2500 info.json\n\u2502   \u251c\u2500\u2500 episodes/chunk-000/file-000.parquet\n\u2502   \u251c\u2500\u2500 tasks.parquet\n\u2502   \u251c\u2500\u2500 subtasks.parquet\n\u2502   \u251c\u2500\u2500 environments.parquet\n\u2502   \u2514\u2500\u2500 scenes.parquet\n\u2514\u2500\u2500 videos/\n    \u2514\u2500\u2500 observation.images.{camera}/\n        \u2514\u2500\u2500 chunk-000/file-000.mp4",
+  "fields": [
+    {
+      "group": "Shard info",
+      "field": "codebase_version",
+      "shape": "string",
+      "description": "LeRobot v3.0.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Shard info",
+      "field": "data_format_version",
+      "shape": "string",
+      "description": "Human-1M format version declared by the delivery.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Shard info",
+      "field": "total_episodes",
+      "shape": "integer",
+      "description": "Episode count within this shard.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Shard info",
+      "field": "fps",
+      "shape": "number > 0",
+      "description": "Delivered frame rate; resolve timing from the episode and stream metadata.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Shard info",
+      "field": "data_path",
+      "shape": "path template",
+      "description": "Relative path template for frame Parquet files.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Shard info",
+      "field": "video_path",
+      "shape": "path template",
+      "description": "Relative path template for per-camera MP4 files.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Shard info",
+      "field": "features",
+      "shape": "mapping",
+      "description": "Feature names, dtypes, and shapes, including the available camera streams.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "index",
+      "shape": "int64",
+      "description": "Index identifying a frame row in the dataset.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "episode_index",
+      "shape": "int64",
+      "description": "Shard-local episode reference; join to episode metadata.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "frame_index",
+      "shape": "int64",
+      "description": "Frame position inside the episode.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "timestamp",
+      "shape": "float",
+      "description": "Frame timestamp in seconds, using the delivery clock convention.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "task_index",
+      "shape": "int64",
+      "description": "Reference to the T1 episode-level task instruction.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "subtask_index",
+      "shape": "int64",
+      "description": "Reference to the T2 subtask label; preserve explicit segment boundaries separately.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "observation.state.hand_left_cam",
+      "shape": "21 \u00d7 3 float32",
+      "description": "Left-hand joint positions in the camera frame, in metres; stored as 63 values.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "observation.state.hand_right_cam",
+      "shape": "21 \u00d7 3 float32",
+      "description": "Right-hand joint positions in the camera frame, in metres; stored as 63 values.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "observation.state.hand_left_cam_rotation",
+      "shape": "21 \u00d7 4 float32",
+      "description": "Left-hand per-joint quaternions in (qx, qy, qz, qw) order; stored as 84 values.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "observation.state.hand_right_cam_rotation",
+      "shape": "21 \u00d7 4 float32",
+      "description": "Right-hand per-joint quaternions in (qx, qy, qz, qw) order; stored as 84 values.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "observation.state.camera_position",
+      "shape": "3 float32",
+      "description": "Camera translation in the world frame, in metres.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "observation.state.camera_rotation",
+      "shape": "4 float32",
+      "description": "Camera orientation in the world frame, (qx, qy, qz, qw).",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "environment_index",
+      "shape": "int64",
+      "description": "Reference to the environment dictionary.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "scene_index",
+      "shape": "int64",
+      "description": "Reference to the scene dictionary.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "scene_id",
+      "shape": "identifier",
+      "description": "Consistent anonymous scene identifier.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "collector_id",
+      "shape": "identifier",
+      "description": "Consistent anonymous collector identifier.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "left_hand_mask / right_hand_mask",
+      "shape": "int64, 0 or 1",
+      "description": "Separate per-hand presence indicators.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Frame data",
+      "field": "left_hand_confidence / right_hand_confidence",
+      "shape": "float",
+      "description": "Per-hand tracking confidence; consult the supplied confidence convention.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "episode_index",
+      "shape": "int64",
+      "description": "Shard-local episode index; not the globally unique episode ID.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "episode_id",
+      "shape": "string",
+      "description": "Stable, globally unique episode identifier after consistent anonymization.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "length",
+      "shape": "int64",
+      "description": "Number of frames in the episode.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "data/chunk_index \u00b7 data/file_index",
+      "shape": "int64",
+      "description": "Locate the episode frame-data file through info.json.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "dataset_from_index \u00b7 dataset_to_index",
+      "shape": "int64",
+      "description": "Frame-row interval, with an exclusive upper bound.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "meta/episodes/chunk_index \u00b7 meta/episodes/file_index",
+      "shape": "int64",
+      "description": "Location of the episode metadata record.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "videos/observation.images.{cam}/chunk_index \u00b7 file_index",
+      "shape": "int64",
+      "description": "Locate the MP4 for each available camera using video_path.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "videos/observation.images.{cam}/from_timestamp \u00b7 to_timestamp",
+      "shape": "seconds",
+      "description": "Episode interval inside that camera\u2019s concatenated video. These are not subtask boundaries.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "camera_intrinsics/{cam}",
+      "shape": "calibration parameters",
+      "description": "Per-episode camera calibration. Use the camera model supplied for the rig; do not assume every camera uses the same projection.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "camera_extrinsics/T_{i}_{j}",
+      "shape": "rigid transform",
+      "description": "Camera j expressed in camera i\u2019s coordinate frame. Interpret the delivered transform convention.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "task_diversity_id",
+      "shape": "string",
+      "description": "Consistent reference to the task-diversity catalog.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "rig_id",
+      "shape": "string",
+      "description": "Recording-rig identifier, consistently anonymized.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "country",
+      "shape": "string",
+      "description": "ISO 3166-1 alpha-2 recording country code.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "capture_privacy",
+      "shape": "public | private",
+      "description": "Declared recording-environment privacy category. Do not infer it solely from the broad environment label.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Episode metadata",
+      "field": "vendor_id",
+      "shape": "string",
+      "description": "Stable anonymous collection-source identifier on every episode row in meta/episodes/*.parquet, including nested chunk files.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "tasks.parquet: task + task_index",
+      "shape": "text index + integer",
+      "description": "T1: episode-level natural-language task instruction and its local dictionary index.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "subtasks.parquet: subtask + subtask_index",
+      "shape": "text index + integer",
+      "description": "T2: natural-language subtask description and its label reference.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "subtasks.parquet: episode_index",
+      "shape": "integer",
+      "description": "Episode containing the annotation occurrence.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "subtasks.parquet: timestamp_start \u00b7 timestamp_end",
+      "shape": "seconds",
+      "description": "Annotation occurrence boundaries in the episode timestamp convention. Adjacent identical descriptions can remain separate rows.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "subtasks.parquet: source_id",
+      "shape": "string",
+      "description": "Anonymous annotation-provenance identifier.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "environments.parquet: environment + environment_index",
+      "shape": "text index + integer",
+      "description": "Local environment description and broad environment category.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Language & context",
+      "field": "scenes.parquet: scene + scene_index",
+      "shape": "text index + integer",
+      "description": "Scene description and the local scene lookup index.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Video streams",
+      "field": "observation.images.main",
+      "shape": "MP4",
+      "description": "Main monocular egocentric video; a stereo delivery may also supply main as the left-view alias.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Video streams",
+      "field": "observation.images.main_left / main_right",
+      "shape": "MP4",
+      "description": "Left and right egocentric streams for stereo capture.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Video streams",
+      "field": "observation.images.wrist_left / wrist_right",
+      "shape": "MP4, when present",
+      "description": "Left and right wrist-camera streams.",
+      "basis": "Human-1M schema"
+    },
+    {
+      "group": "Video streams",
+      "field": "observation.images.main_add{k}",
+      "shape": "MP4, when present",
+      "description": "Additional main camera streams.",
+      "basis": "Human-1M schema"
+    }
+  ],
+  "notes": [
+    "Deliveries use Human-1M V1.7 and LeRobot v3.0. Read meta/info.json for feature definitions, frame rate, and path templates.",
+    "The directory tree is schematic. Resolve file locations from info.json and episode metadata.",
+    "Each vN is a complete full_clean snapshot. Read one version of a delivery rather than concatenating versions.",
+    "versions.json records version entries, changed episodes, blurred episodes, removed episodes, and creation information.",
+    "Use each camera\u2019s own episode video offset.",
+    "Subtask boundaries use timestamp_start and timestamp_end in subtasks.parquet. Video from_timestamp/to_timestamp locates the episode within a longer MP4.",
+    "For each hand joint, p_world = R(camera_rotation) \u00d7 p_camera + camera_position. The world frame has negative Z toward gravity; projection follows the supplied camera calibration.",
+    "Hand joint order: wrist (0); thumb CMC/MCP/IP/tip (1\u20134); index MCP/PIP/DIP/tip (5\u20138); middle (9\u201312); ring (13\u201316); little (17\u201320).",
+    "Use per-hand masks and confidence to distinguish valid tracking. A zeroed failure record is a sentinel, not a valid rotation.",
+    "Capture-privacy and full calibration coverage require episode-level metadata; they cannot be established from aggregate curation statistics.",
+    "Gallery videos are silent H.264 excerpts. Read the full episode\u2019s timing and calibration metadata when working with geometry."
+  ]
+}

data/stereo_samples.json

@@ -0,0 +1,149 @@
+{
+  "schema_version": 1,
+  "samples": [
+    {
+      "id": "stereo_repair",
+      "example_id": "demo_002",
+      "title": "Repair a motorcycle brake",
+      "instruction": "The person removes the brake caliper from a motorcycle using a T-handle wrench and pliers, then uses a screwdriver to adjust the caliper. After moving the motorcycle, they return to work on the caliper with a wrench.",
+      "vendor_label": "Vendor A",
+      "vendor_id": "vendor_22310db846ad639f6ab637c3b7068fa1",
+      "episode_id": "episode_cfc9cc8aa7442b6084ddc2679031f425",
+      "setting": "itw",
+      "has_wrist": false,
+      "frames": 1799,
+      "fps_nominal": 30,
+      "poster": "posters/demo_002_9a4d09da_main.jpg",
+      "seconds": 59.96666717529297,
+      "directory": "samples/lerobot/stereo_repair",
+      "archive": "samples/downloads/stereo_repair.tar.gz",
+      "archive_bytes": 245720118,
+      "streams": [
+        {
+          "camera": "main_left",
+          "path": "samples/lerobot/stereo_repair/videos/observation.images.main_left/chunk-000/file-000.mp4",
+          "width": 1920,
+          "height": 1200,
+          "frames": 1799
+        },
+        {
+          "camera": "main_right",
+          "path": "samples/lerobot/stereo_repair/videos/observation.images.main_right/chunk-000/file-000.mp4",
+          "width": 1920,
+          "height": 1200,
+          "frames": 1799
+        }
+      ],
+      "missing_fields": [
+        "meta/subtasks.parquet",
+        "rig_id",
+        "capture_privacy"
+      ]
+    },
+    {
+      "id": "stereo_desk_wrist",
+      "example_id": "demo_007",
+      "title": "Organize a desktop charging station",
+      "instruction": "The person arranges accessories onto a wooden desk organizer by hand, placing a tray, phone, charging pad, and shaver onto it. The person puts earbuds into a case and glasses into a pouch, then positions the pouch, a phone stand, and a keyring onto the organizer.",
+      "vendor_label": "Vendor A",
+      "vendor_id": "vendor_22310db846ad639f6ab637c3b7068fa1",
+      "episode_id": "episode_93fc71b4f67f2a47b0068a27d3dd9513",
+      "setting": "studio",
+      "has_wrist": true,
+      "frames": 1064,
+      "fps_nominal": 30,
+      "poster": "posters/demo_007_e81afb5d_main.jpg",
+      "seconds": 35.46666717529297,
+      "directory": "samples/lerobot/stereo_desk_wrist",
+      "archive": "samples/downloads/stereo_desk_wrist.tar.gz",
+      "archive_bytes": 164364583,
+      "streams": [
+        {
+          "camera": "main_left",
+          "path": "samples/lerobot/stereo_desk_wrist/videos/observation.images.main_left/chunk-000/file-000.mp4",
+          "width": 1920,
+          "height": 1200,
+          "frames": 1064
+        },
+        {
+          "camera": "main_right",
+          "path": "samples/lerobot/stereo_desk_wrist/videos/observation.images.main_right/chunk-000/file-000.mp4",
+          "width": 1920,
+          "height": 1200,
+          "frames": 1064
+        },
+        {
+          "camera": "left_wrist",
+          "path": "samples/lerobot/stereo_desk_wrist/videos/observation.images.left_wrist/chunk-000/file-000.mp4",
+          "width": 1280,
+          "height": 960,
+          "frames": 1064
+        },
+        {
+          "camera": "right_wrist",
+          "path": "samples/lerobot/stereo_desk_wrist/videos/observation.images.right_wrist/chunk-000/file-000.mp4",
+          "width": 1280,
+          "height": 960,
+          "frames": 1064
+        }
+      ],
+      "missing_fields": [
+        "meta/subtasks.parquet",
+        "rig_id",
+        "capture_privacy"
+      ]
+    },
+    {
+      "id": "stereo_flower_wrist",
+      "example_id": "hero",
+      "title": "Bundle flower stems",
+      "instruction": "The person picks up flower stems and wraps a rubber band around them to secure them together.",
+      "vendor_label": "Vendor B",
+      "vendor_id": "vendor_d0d4ed553c3357ed4c5a25627fec32df",
+      "episode_id": "episode_83a933939f2804ad3508ed20203c0ddc",
+      "setting": "Studio",
+      "has_wrist": true,
+      "frames": 836,
+      "fps_nominal": 30,
+      "poster": "preview/episode/main.jpg",
+      "seconds": 27.868515014648438,
+      "directory": "samples/lerobot/stereo_flower_wrist",
+      "archive": "samples/downloads/stereo_flower_wrist.tar.gz",
+      "archive_bytes": 43675124,
+      "streams": [
+        {
+          "camera": "main",
+          "path": "samples/lerobot/stereo_flower_wrist/videos/observation.images.main/chunk-000/file-000.mp4",
+          "width": 1280,
+          "height": 720,
+          "frames": 836
+        },
+        {
+          "camera": "right",
+          "path": "samples/lerobot/stereo_flower_wrist/videos/observation.images.right/chunk-000/file-000.mp4",
+          "width": 1280,
+          "height": 720,
+          "frames": 836
+        },
+        {
+          "camera": "left_wrist",
+          "path": "samples/lerobot/stereo_flower_wrist/videos/observation.images.left_wrist/chunk-000/file-000.mp4",
+          "width": 640,
+          "height": 480,
+          "frames": 836
+        },
+        {
+          "camera": "right_wrist",
+          "path": "samples/lerobot/stereo_flower_wrist/videos/observation.images.right_wrist/chunk-000/file-000.mp4",
+          "width": 640,
+          "height": 480,
+          "frames": 836
+        }
+      ],
+      "missing_fields": [
+        "rig_id",
+        "capture_privacy"
+      ]
+    }
+  ]
+}

preview/metadata.jsonl

@@ -0,0 +1,52 @@
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+{"file_name": "videos/demo_001_0b4a67b0_stereo.mp4", "example_id": "demo_001", "task_name": "Sew lace fabric", "instruction": "The worker repeatedly sews white lace fabric with a sewing machine after trimming loose threads.", "view": "Stereo side by side", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Industrial workspace", "episode_seconds": 237.76666666666668, "source_fps": 30.0, "excerpt_start_seconds": 69.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_002_9a4d09da_right.mp4", "example_id": "demo_002", "task_name": "Repair a motorcycle brake", "instruction": "The person removes the brake caliper from a motorcycle using a T-handle wrench and pliers, then uses a screwdriver to adjust the caliper. After moving the motorcycle, they return to work on the caliper with a wrench.", "view": "Egocentric right", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Workshop/on-site repair", "episode_seconds": 59.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 2.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_002_9a4d09da_stereo.mp4", "example_id": "demo_002", "task_name": "Repair a motorcycle brake", "instruction": "The person removes the brake caliper from a motorcycle using a T-handle wrench and pliers, then uses a screwdriver to adjust the caliper. After moving the motorcycle, they return to work on the caliper with a wrench.", "view": "Stereo side by side", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Workshop/on-site repair", "episode_seconds": 59.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 2.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_003_706d83f1_right.mp4", "example_id": "demo_003", "task_name": "Fill dumpling wrappers", "instruction": "The person rolls the dough into a flat shape using a roller and a cylindrical tool, wraps the filling in the dough skin with a mold and a fork, and places it on a tray.", "view": "Egocentric right", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Commercial kitchen", "episode_seconds": 117.1, "source_fps": 30.0, "excerpt_start_seconds": 56.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_004_c6d2b468_main.mp4", "example_id": "demo_004", "task_name": "Polish a dental crown", "instruction": "The person polishes a dental crown with a rotary tool, then uses a blade to scrape the surface of the crown.", "view": "Egocentric main", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Service counter/care", "episode_seconds": 119.96666666666667, "source_fps": 30.0, "excerpt_start_seconds": 75.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_004_c6d2b468_right.mp4", "example_id": "demo_004", "task_name": "Polish a dental crown", "instruction": "The person polishes a dental crown with a rotary tool, then uses a blade to scrape the surface of the crown.", "view": "Egocentric right", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Service counter/care", "episode_seconds": 119.96666666666667, "source_fps": 30.0, "excerpt_start_seconds": 75.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_005_0ee1132e_main.mp4", "example_id": "demo_005", "task_name": "Assemble a toy gear workshop", "instruction": "The person builds the Educational Insights Design & Drill Gears Workshop.", "view": "Egocentric main", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 118.4, "source_fps": 30.0, "excerpt_start_seconds": 30.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_006_af05f275_right.mp4", "example_id": "demo_006", "task_name": "Transfer blocks with chopsticks", "instruction": "The person used chopsticks to pick up the sponge blocks from the tray one by one and place them into the small bowl.", "view": "Egocentric right", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 66.3, "source_fps": 30.0, "excerpt_start_seconds": 15.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_007_e81afb5d_wrist_left.mp4", "example_id": "demo_007", "task_name": "Organize a desktop charging station", "instruction": "The person arranges accessories onto a wooden desk organizer by hand, placing a tray, phone, charging pad, and shaver onto it. The person puts earbuds into a case and glasses into a pouch, then positions the pouch, a phone stand, and a keyring onto the organizer.", "view": "Left wrist", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 35.4666666667, "source_fps": 30.0, "excerpt_start_seconds": 1.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_007_e81afb5d_wrist_right.mp4", "example_id": "demo_007", "task_name": "Organize a desktop charging station", "instruction": "The person arranges accessories onto a wooden desk organizer by hand, placing a tray, phone, charging pad, and shaver onto it. The person puts earbuds into a case and glasses into a pouch, then positions the pouch, a phone stand, and a keyring onto the organizer.", "view": "Right wrist", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 35.4666666667, "source_fps": 30.0, "excerpt_start_seconds": 1.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_008_bfe1eaff_right.mp4", "example_id": "demo_008", "task_name": "Test components with a multimeter", "instruction": "The person picks up hand tools one by one, touching each with a multimeter probe, and then tests wire coils by touching the ends of each coil with the multimeter probes.", "view": "Egocentric right", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 46.2, "source_fps": 30.0, "excerpt_start_seconds": 28.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_008_bfe1eaff_wrist_left.mp4", "example_id": "demo_008", "task_name": "Test components with a multimeter", "instruction": "The person picks up hand tools one by one, touching each with a multimeter probe, and then tests wire coils by touching the ends of each coil with the multimeter probes.", "view": "Left wrist", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 46.2, "source_fps": 30.0, "excerpt_start_seconds": 28.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_008_bfe1eaff_wrist_right.mp4", "example_id": "demo_008", "task_name": "Test components with a multimeter", "instruction": "The person picks up hand tools one by one, touching each with a multimeter probe, and then tests wire coils by touching the ends of each coil with the multimeter probes.", "view": "Right wrist", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 46.2, "source_fps": 30.0, "excerpt_start_seconds": 28.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_008_bfe1eaff_stereo.mp4", "example_id": "demo_008", "task_name": "Test components with a multimeter", "instruction": "The person picks up hand tools one by one, touching each with a multimeter probe, and then tests wire coils by touching the ends of each coil with the multimeter probes.", "view": "Stereo side by side", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 46.2, "source_fps": 30.0, "excerpt_start_seconds": 28.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_009_5db6c694_main.mp4", "example_id": "demo_009", "task_name": "Pack and seal shipping cartons", "instruction": "The worker repeatedly packs colored boxes into cartons, seals them, and attaches shipping labels.", "view": "Egocentric main", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Logistics floor", "episode_seconds": 197.96666666666667, "source_fps": 30.0, "excerpt_start_seconds": 165.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_010_dd7b0aff_main.mp4", "example_id": "demo_010", "task_name": "Restock bottles on a shelf", "instruction": "The worker repeatedly arranges pink bottles neatly on the multi-layer shelf", "view": "Egocentric main", "setting": "itw", "modality": "stereo", "has_wrist": false, "environment": "Retail/merchandising floor", "episode_seconds": 38.766666666666666, "source_fps": 30.0, "excerpt_start_seconds": 4.0, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_013_ea727f9c_wrist_left.mp4", "example_id": "demo_013", "task_name": "Fasten a circuit board and connect wires", "instruction": "The person places a circuit board onto a metal frame and secures it by driving screws with a power screwdriver. They then connect a wire harness to the board and use a tool to apply a substance to the screw heads.", "view": "Left wrist", "setting": "itw", "modality": "stereo", "has_wrist": true, "environment": "Workshop/on-site repair", "episode_seconds": 74.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 24.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_013_ea727f9c_wrist_right.mp4", "example_id": "demo_013", "task_name": "Fasten a circuit board and connect wires", "instruction": "The person places a circuit board onto a metal frame and secures it by driving screws with a power screwdriver. They then connect a wire harness to the board and use a tool to apply a substance to the screw heads.", "view": "Right wrist", "setting": "itw", "modality": "stereo", "has_wrist": true, "environment": "Workshop/on-site repair", "episode_seconds": 74.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 24.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_014_995507a7_main.mp4", "example_id": "demo_014", "task_name": "Replace a watch battery", "instruction": "In the living room, the person picks up the wristwatch, opens the back cover with screwdriver, inserts the battery into the wristwatch and places the watch on the table", "view": "Egocentric main", "setting": "itw", "modality": "mono", "has_wrist": true, "environment": "Household", "episode_seconds": 57.0236333333, "source_fps": 29.97002997, "excerpt_start_seconds": 33.5, "excerpt_seconds": 12.0}
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+{"file_name": "videos/demo_015_b0d9181d_main.mp4", "example_id": "demo_015", "task_name": "Tie shoelaces into bows", "instruction": "The person tied each shoelace into a bow one by one and placed them on the table.", "view": "Egocentric main", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 76.7, "source_fps": 30.0, "excerpt_start_seconds": 58.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_015_b0d9181d_wrist_left.mp4", "example_id": "demo_015", "task_name": "Tie shoelaces into bows", "instruction": "The person tied each shoelace into a bow one by one and placed them on the table.", "view": "Left wrist", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 76.7, "source_fps": 30.0, "excerpt_start_seconds": 58.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_015_b0d9181d_wrist_right.mp4", "example_id": "demo_015", "task_name": "Tie shoelaces into bows", "instruction": "The person tied each shoelace into a bow one by one and placed them on the table.", "view": "Right wrist", "setting": "studio", "modality": "stereo", "has_wrist": true, "environment": "Studio/workbench", "episode_seconds": 76.7, "source_fps": 30.0, "excerpt_start_seconds": 58.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_016_c0283da6_main.mp4", "example_id": "demo_016", "task_name": "Bundle glass bottles with cord", "instruction": "The person ties a bundle of glass bottles together using a plastic cord, wrapping it around the necks and pulling it tight. They then insert a blue glass bottle into the center of the bundle and finish knotting the cord.", "view": "Egocentric main", "setting": "itw", "modality": "stereo", "has_wrist": true, "environment": "Logistics floor", "episode_seconds": 69.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 56.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_016_c0283da6_wrist_left.mp4", "example_id": "demo_016", "task_name": "Bundle glass bottles with cord", "instruction": "The person ties a bundle of glass bottles together using a plastic cord, wrapping it around the necks and pulling it tight. They then insert a blue glass bottle into the center of the bundle and finish knotting the cord.", "view": "Left wrist", "setting": "itw", "modality": "stereo", "has_wrist": true, "environment": "Logistics floor", "episode_seconds": 69.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 56.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_016_c0283da6_wrist_right.mp4", "example_id": "demo_016", "task_name": "Bundle glass bottles with cord", "instruction": "The person ties a bundle of glass bottles together using a plastic cord, wrapping it around the necks and pulling it tight. They then insert a blue glass bottle into the center of the bundle and finish knotting the cord.", "view": "Right wrist", "setting": "itw", "modality": "stereo", "has_wrist": true, "environment": "Logistics floor", "episode_seconds": 69.9666666667, "source_fps": 30.0, "excerpt_start_seconds": 56.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_017_8877dcf8_main.mp4", "example_id": "demo_017", "task_name": "Shape and knead dough", "instruction": "The person kneads the dough and puts it into the basket.", "view": "Egocentric main", "setting": "itw", "modality": "mono", "has_wrist": false, "environment": "Household", "episode_seconds": 47.4666666667, "source_fps": 30.0, "excerpt_start_seconds": 30.5, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_018_1b8cad25_main.mp4", "example_id": "demo_018", "task_name": "Train and prune cucumber plants", "instruction": "The person twines cucumber plant stems around trellis string and prunes shoots, dropping them onto the ground. They then move along to twine another cucumber stem around its trellis string.", "view": "Egocentric main", "setting": "itw", "modality": "mono", "has_wrist": false, "environment": "Agriculture", "episode_seconds": 35.4, "source_fps": 30.0, "excerpt_start_seconds": 7.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_019_edb24dce_main.mp4", "example_id": "demo_019", "task_name": "Coat and label cheese wheels", "instruction": "The person paints cheese wheels with black coating using an applicator, attaches round labels onto them by hand, and places the labeled cheese wheels into a plastic crate.", "view": "Egocentric main", "setting": "itw", "modality": "mono", "has_wrist": false, "environment": "Logistics floor", "episode_seconds": 68.8666666667, "source_fps": 30.0, "excerpt_start_seconds": 24.0, "excerpt_seconds": 12.0}
+{"file_name": "videos/demo_020_58d174ef_main.mp4", "example_id": "demo_020", "task_name": "Wash dishes and containers", "instruction": "The person washes and rinses plastic containers, lids, and plates in a kitchen sink and places them on a dish rack", "view": "Egocentric main", "setting": "itw", "modality": "mono", "has_wrist": true, "environment": "Household", "episode_seconds": 81.7483333333, "source_fps": 29.97002997, "excerpt_start_seconds": 20.5, "excerpt_seconds": 12.0}

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