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"tasks": {
"motherboard": {
"language": "Bimanual manipulation of components on a computer motherboard.",
"purpose": "Dense, contact-rich, synchronized multimodal interaction data for tactile-visual dynamics / world-model learning. Not a policy-learning / demonstration dataset.",
"operator": "human hands (handheld GelSight Mini sensors with motion-capture rigid bodies; no robot arm involved)",
"embodiment": "human",
"dates": [
"2026-05-10",
"2026-05-11"
],
"per_date_notes": {
"2026-05-10": {
"kind": "session",
"active_sensors": [
"left",
"right"
],
"note": "First full bimanual recording session."
},
"2026-05-11": {
"kind": "session",
"active_sensors": [
"left",
"right"
],
"note": "Largest session. 3 episodes had OptiTrack offline at recording start (ep_005/012/017); those prefixes (~17 min total) have been trimmed from the published .pt files \u2014 see `trim_offsets` and `_contact_meta.trim_offset` per .pt. Mid-episode flagged frames: 9 of 15 files have \u2265 1 flagged frame (intensity spike, pose teleport, or ot_loss) \u2014 see bad_frames.json."
},
"2026-05-19": {
"kind": "session",
"active_sensors": [
"left",
"right"
],
"note": "Recorded with all 3 RealSense views and both GelSight sensors. Published with view_left / view_middle / view_right (multi-cam) in the per-episode .pt under `episodes/motherboard/2026-05-19/`. Failure detection was run with the reproducible `detect_bad_intervals.py` ruleset (matches the published bad_frames.json bit-identically on 25 of 27 prior episodes; the two edge cases are minor borderline events that do not affect segment quality). Bad intervals were sliced out to produce `segments/motherboard/2026-05-19/`."
}
},
"n_episode_files": 27,
"notes": "2026-05-11/episode_001 was lost at recording time (HDF5 superblock not finalized). 2026-05-11/episodes 000 and 002 were short test recordings with no tactile contact and were dropped.",
"trim_offsets": {
"2026-05-11/episode_005": 2429,
"2026-05-11/episode_012": 9719,
"2026-05-11/episode_017": 19228
},
"trim_note": "Per-episode prefix that has already been cut from the published .pt. Episodes not listed have trim_offset = 0 (no trim needed)."
}
},
"schema_version": "mode1_v1",
"layout": "processed/mode1_v1/<task>/<date>/episode_*.{pt,contact.json} (raw with bad intervals) OR processed/mode2_v1/<task>/<date>/episode_*.segment_*.pt (pre-sliced clean segments; see segments.json)",
"mode2_v1": {
"description": "Same recordings as mode1_v1 but sliced at every bad-frames boundary into contiguous clean segments. Use with examples/react_segment_dataset.py.",
"n_segments": 73,
"total_frames": 188442,
"total_duration_min": 104.69,
"manifest": "segments.json"
}
} |