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README.md

@@ -94,3 +94,22 @@ Episode indices have been renumbered sequentially (0..3590).
 Video files are copied unchanged; some frames in the original mp4 files are now orphan
 (unreferenced by any episode) but this is benign for LeRobot v3 readers, which slice
 videos via `from_timestamp` / `to_timestamp`.
+
+
+## 32D layout note (this revision)
+
+This revision overwrites the previous 11D layout with the 32D HSR sparse layout
+required by π0.5 32D-action checkpoints (Run67/Run70 family). All state/action
+columns are now `float32[32]` arranged as:
+
+- state[0:5]   = arm joints
+- state[6]     = hand_motor_joint (absolute gripper)
+- state[11:13] = head (pan / tilt)
+- state[5], [7:11], [13:32] = 0 (unused)
+- action[0:5]    = arm diffs
+- action[6]      = hand_motor_joint relative (gripper command)
+- action[11:13]  = head diffs
+- action[13:16]  = base x/y/theta relative
+- action[5], [7:11], [16:32] = 0 (unused)
+
+Episode-level filtering (18 eval-overlap episodes removed) is unchanged.

data/chunk-000/file-000.parquet

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 version https://git-lfs.github.com/spec/v1
-oid sha256:44eba506f2103281d3667a3db148ecef2070cd620711657b120dea1731797ef3
-size 26911003
+oid sha256:20a3f54e2751124141816b96153a84f993144d2ce01a2e427e3d87fb284438a6
+size 31364703

data/chunk-000/file-001.parquet

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 version https://git-lfs.github.com/spec/v1
-oid sha256:6484258ef53e3b2cffda8f40cdbd5b7d6c60f319db1daf35a4b27ae1675a9faa
-size 23386621
+oid sha256:e9aecbb8e0686c01da21f0ebf09f7c99f5222b4f693420e6a3cd918be65f9a88
+size 27333644

meta/info.json

@@ -55,7 +55,7 @@
     "observation.state": {
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       "shape": [
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+        32
       ],
       "names": [
         "arm_lift_joint",
@@ -63,16 +63,40 @@
         "arm_roll_joint",
         "wrist_flex_joint",
         "wrist_roll_joint",
+        "zero_5",
         "hand_motor_joint",
+        "zero_7",
+        "zero_8",
+        "zero_9",
+        "zero_10",
         "head_pan_joint",
-        "head_tilt_joint"
+        "head_tilt_joint",
+        "zero_13",
+        "zero_14",
+        "zero_15",
+        "zero_16",
+        "zero_17",
+        "zero_18",
+        "zero_19",
+        "zero_20",
+        "zero_21",
+        "zero_22",
+        "zero_23",
+        "zero_24",
+        "zero_25",
+        "zero_26",
+        "zero_27",
+        "zero_28",
+        "zero_29",
+        "zero_30",
+        "zero_31"
       ],
       "fps": 10
     },
     "action": {
       "dtype": "float32",
       "shape": [
-        11
+        32
       ],
       "names": [
         "arm_lift_joint_state_diff",
@@ -80,14 +104,35 @@
         "arm_roll_joint_state_diff",
         "wrist_flex_joint_state_diff",
         "wrist_roll_joint_state_diff",
+        "zero_5",
         "hand_motor_joint_relative",
+        "zero_7",
+        "zero_8",
+        "zero_9",
+        "zero_10",
         "head_pan_joint_state_diff",
         "head_tilt_joint_state_diff",
         "base_x_relative",
         "base_y_relative",
-        "base_t_relative"
+        "base_t_relative",
+        "zero_16",
+        "zero_17",
+        "zero_18",
+        "zero_19",
+        "zero_20",
+        "zero_21",
+        "zero_22",
+        "zero_23",
+        "zero_24",
+        "zero_25",
+        "zero_26",
+        "zero_27",
+        "zero_28",
+        "zero_29",
+        "zero_30",
+        "zero_31"
       ],
-      "description": "dintegrated action features in 11 dims",
+      "description": "32D HSR sparse action layout (arm/gripper/head/base)",
       "fps": 10
     },
     "episode_index": {

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