Minham/real-data-tidy-up

Real Data Tidy Up

Processed real robot teleoperation data from /remote-home/share/teledata/raw/, prepared from the existing processed outputs under:

/remote-home/share/teledata/processed/2026-06-16_18_front_5hz_dual_action

No raw data is included in this repository. The uploaded artifact contains encoded main-camera and wrist-camera frame tokens, camera-frame action data, base-frame action data, 7D training pickle files, normalizer statistics, processing logs, and gripper-based keyframe targets.

Files

• data/teledata_2026-06-16_18_front_5hz_dual_action_encoded_pkl.tar.zst
  • Complete packaged artifact.
  • Contains:
    • real_all_camera/: camera-frame action .npy data.
    • real_all_base/: base-frame action .npy data.
    • real_all_codes_main_256x144/: encoded main-camera tokens.
    • real_all_gripper_codes_wrist_240x135/: encoded wrist-camera tokens.
    • meta/real_all_camera_norm.pkl
    • meta/real_all_base_norm.pkl
    • configs/normalizer_real_all_camera/norm_stats.json
    • configs/normalizer_real_all_base/norm_stats.json
    • MANIFEST.md
• camera_frame/real_all_camera_norm.pkl: camera-frame 7D training pickle. action[:, 6] is absolute current gripper state.
• base_frame/real_all_base_norm.pkl: base-frame 7D training pickle. action[:, 6] is absolute current gripper state.
• camera_frame/norm_stats.json: camera-frame normalizer statistics.
• base_frame/norm_stats.json: base-frame normalizer statistics.
• keyframes_by_gripper/: gripper-based keyframe extraction outputs.
  • keyframes_camera.pkl
  • keyframes_base.pkl
  • keyframes_camera.json
  • keyframes_base.json
  • keyframes_summary.json
  • keyframes_summary.csv
  • abnormal_episodes.json
  • README_keyframes_by_gripper.md
• manifest.json: upload file manifest with sizes and SHA-256 hashes.
• metadata/validation_summary.json: validation summary generated before upload.
• metadata/source_MANIFEST.md: source processing manifest copied from the processed output directory.

Validation Summary

• Camera-frame scenes: 1188.
• Base-frame scenes: 1188.
• Encoded main-camera scenes: 1188.
• Encoded wrist-camera scenes: 1188.
• Camera-frame action files: 232107.
• Base-frame action files: 232107.
• Camera-frame pkl samples: 1188.
• Base-frame pkl samples: 1188.
• Total action steps per pkl: 232107.
• Action shape: (7,).
• Gripper source: raw CSV Gripper, copied to pkl gripper and action[:, 6].
• Normal keyframe episodes: 1176.
• Abnormal keyframe episodes: 12.
• 7-keyframe episodes: 1067.
• 9-keyframe episodes: 109.
• Both pkl files were read successfully before upload.
• The .tar.zst archive passed zstd -t validation before upload.

Loading

Example:

import pickle

with open("camera_frame/real_all_camera_norm.pkl", "rb") as f:
    camera_data = pickle.load(f)

with open("base_frame/real_all_base_norm.pkl", "rb") as f:
    base_data = pickle.load(f)

To unpack the full encoded/action artifact:

tar --use-compress-program=unzstd -xf data/teledata_2026-06-16_18_front_5hz_dual_action_encoded_pkl.tar.zst