Add mode2_v1 schema — 73 pre-sliced clean segments from 27 source episodes (104.7 min, bad intervals excluded by construction). New ReactSegmentDataset + demo. No bad_frames.json filtering needed at the dataloader; data is constructively clean. mode1_v1 stays for backward compatibility. See segments.json + new README section.
93065ec verified | { | |
| "schema": "mode2_v1", | |
| "description": "Each .pt is a contiguous clean segment of a source recording. Bad intervals from bad_frames.json (intensity_spikes, pose_teleports_*, ot_loss_*) are excluded by construction, so a dataloader can iterate windows here without any per-window quality filter. Use `source_h5_frame_range` to map back to the original H5 recording.", | |
| "n_source_episodes": 27, | |
| "n_segments": 73, | |
| "total_frames": 188442, | |
| "total_duration_min": 104.69, | |
| "median_segment_frames": 1175, | |
| "median_segment_s": 39.167, | |
| "min_segment_frames_kept": 16, | |
| "tactile_threshold_used_for_contact_pct": 0.4, | |
| "segments": [ | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_000.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_000", | |
| "source_segment_idx": 0, | |
| "n_frames": 6890, | |
| "duration_s": 229.667, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 6889 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 6889 | |
| ], | |
| "contact_pct_left": 47.21, | |
| "contact_pct_right": 28.03, | |
| "mean_speed_left_mps": 0.2039, | |
| "mean_speed_right_mps": 0.1454, | |
| "file_size_mb": 969.68, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_001.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_001", | |
| "source_segment_idx": 0, | |
| "n_frames": 5503, | |
| "duration_s": 183.433, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 5502 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 5502 | |
| ], | |
| "contact_pct_left": 40.76, | |
| "contact_pct_right": 23.41, | |
| "mean_speed_left_mps": 0.1821, | |
| "mean_speed_right_mps": 0.1439, | |
| "file_size_mb": 774.51, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_001.segment_01.pt", | |
| "source_episode": "2026-05-10/episode_001", | |
| "source_segment_idx": 1, | |
| "n_frames": 1548, | |
| "duration_s": 51.6, | |
| "source_pt_frame_range": [ | |
| 5514, | |
| 7061 | |
| ], | |
| "source_h5_frame_range": [ | |
| 5514, | |
| 7061 | |
| ], | |
| "contact_pct_left": 42.05, | |
| "contact_pct_right": 16.93, | |
| "mean_speed_left_mps": 0.2537, | |
| "mean_speed_right_mps": 0.17, | |
| "file_size_mb": 218.01, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_001.segment_02.pt", | |
| "source_episode": "2026-05-10/episode_001", | |
| "source_segment_idx": 2, | |
| "n_frames": 467, | |
| "duration_s": 15.567, | |
| "source_pt_frame_range": [ | |
| 7154, | |
| 7620 | |
| ], | |
| "source_h5_frame_range": [ | |
| 7154, | |
| 7620 | |
| ], | |
| "contact_pct_left": 28.48, | |
| "contact_pct_right": 23.55, | |
| "mean_speed_left_mps": 0.228, | |
| "mean_speed_right_mps": 0.2239, | |
| "file_size_mb": 65.9, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_002.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_002", | |
| "source_segment_idx": 0, | |
| "n_frames": 9551, | |
| "duration_s": 318.367, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 9550 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 9550 | |
| ], | |
| "contact_pct_left": 33.49, | |
| "contact_pct_right": 26.34, | |
| "mean_speed_left_mps": 0.2027, | |
| "mean_speed_right_mps": 0.1734, | |
| "file_size_mb": 1344.1, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_002.segment_01.pt", | |
| "source_episode": "2026-05-10/episode_002", | |
| "source_segment_idx": 1, | |
| "n_frames": 112, | |
| "duration_s": 3.733, | |
| "source_pt_frame_range": [ | |
| 9559, | |
| 9670 | |
| ], | |
| "source_h5_frame_range": [ | |
| 9559, | |
| 9670 | |
| ], | |
| "contact_pct_left": 35.71, | |
| "contact_pct_right": 16.96, | |
| "mean_speed_left_mps": 0.21, | |
| "mean_speed_right_mps": 0.1603, | |
| "file_size_mb": 15.95, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_002.segment_02.pt", | |
| "source_episode": "2026-05-10/episode_002", | |
| "source_segment_idx": 2, | |
| "n_frames": 632, | |
| "duration_s": 21.067, | |
| "source_pt_frame_range": [ | |
| 9679, | |
| 10310 | |
| ], | |
| "source_h5_frame_range": [ | |
| 9679, | |
| 10310 | |
| ], | |
| "contact_pct_left": 33.86, | |
| "contact_pct_right": 32.59, | |
| "mean_speed_left_mps": 0.2063, | |
| "mean_speed_right_mps": 0.2452, | |
| "file_size_mb": 89.12, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_002.segment_03.pt", | |
| "source_episode": "2026-05-10/episode_002", | |
| "source_segment_idx": 3, | |
| "n_frames": 156, | |
| "duration_s": 5.2, | |
| "source_pt_frame_range": [ | |
| 10319, | |
| 10474 | |
| ], | |
| "source_h5_frame_range": [ | |
| 10319, | |
| 10474 | |
| ], | |
| "contact_pct_left": 44.87, | |
| "contact_pct_right": 16.67, | |
| "mean_speed_left_mps": 0.2724, | |
| "mean_speed_right_mps": 0.2633, | |
| "file_size_mb": 22.14, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_003.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_003", | |
| "source_segment_idx": 0, | |
| "n_frames": 9262, | |
| "duration_s": 308.733, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 9261 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 9261 | |
| ], | |
| "contact_pct_left": 43.59, | |
| "contact_pct_right": 31.72, | |
| "mean_speed_left_mps": 0.0792, | |
| "mean_speed_right_mps": 0.083, | |
| "file_size_mb": 1303.44, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_004.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_004", | |
| "source_segment_idx": 0, | |
| "n_frames": 2406, | |
| "duration_s": 80.2, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 2405 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 2405 | |
| ], | |
| "contact_pct_left": 56.48, | |
| "contact_pct_right": 71.82, | |
| "mean_speed_left_mps": 0.0792, | |
| "mean_speed_right_mps": 0.0836, | |
| "file_size_mb": 338.74, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_005.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_005", | |
| "source_segment_idx": 0, | |
| "n_frames": 763, | |
| "duration_s": 25.433, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 762 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 762 | |
| ], | |
| "contact_pct_left": 53.87, | |
| "contact_pct_right": 37.09, | |
| "mean_speed_left_mps": 0.0822, | |
| "mean_speed_right_mps": 0.0938, | |
| "file_size_mb": 107.55, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_006.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_006", | |
| "source_segment_idx": 0, | |
| "n_frames": 3925, | |
| "duration_s": 130.833, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 3924 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 3924 | |
| ], | |
| "contact_pct_left": 52.08, | |
| "contact_pct_right": 57.78, | |
| "mean_speed_left_mps": 0.0664, | |
| "mean_speed_right_mps": 0.0735, | |
| "file_size_mb": 552.48, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_007.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_007", | |
| "source_segment_idx": 0, | |
| "n_frames": 1927, | |
| "duration_s": 64.233, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 1926 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 1926 | |
| ], | |
| "contact_pct_left": 36.17, | |
| "contact_pct_right": 43.9, | |
| "mean_speed_left_mps": 0.062, | |
| "mean_speed_right_mps": 0.0762, | |
| "file_size_mb": 271.34, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_008.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_008", | |
| "source_segment_idx": 0, | |
| "n_frames": 1305, | |
| "duration_s": 43.5, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 1304 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 1304 | |
| ], | |
| "contact_pct_left": 33.1, | |
| "contact_pct_right": 39.16, | |
| "mean_speed_left_mps": 0.0596, | |
| "mean_speed_right_mps": 0.0746, | |
| "file_size_mb": 183.82, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_009.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_009", | |
| "source_segment_idx": 0, | |
| "n_frames": 1823, | |
| "duration_s": 60.767, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 1822 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 1822 | |
| ], | |
| "contact_pct_left": 35.93, | |
| "contact_pct_right": 54.25, | |
| "mean_speed_left_mps": 0.0955, | |
| "mean_speed_right_mps": 0.118, | |
| "file_size_mb": 256.71, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_010.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_010", | |
| "source_segment_idx": 0, | |
| "n_frames": 1035, | |
| "duration_s": 34.5, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 1034 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 1034 | |
| ], | |
| "contact_pct_left": 57.78, | |
| "contact_pct_right": 41.45, | |
| "mean_speed_left_mps": 0.1298, | |
| "mean_speed_right_mps": 0.1172, | |
| "file_size_mb": 145.83, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-10/episode_011.segment_00.pt", | |
| "source_episode": "2026-05-10/episode_011", | |
| "source_segment_idx": 0, | |
| "n_frames": 2201, | |
| "duration_s": 73.367, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 2200 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 2200 | |
| ], | |
| "contact_pct_left": 51.43, | |
| "contact_pct_right": 63.52, | |
| "mean_speed_left_mps": 0.1027, | |
| "mean_speed_right_mps": 0.1051, | |
| "file_size_mb": 309.89, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_003.segment_00.pt", | |
| "source_episode": "2026-05-11/episode_003", | |
| "source_segment_idx": 0, | |
| "n_frames": 262, | |
| "duration_s": 8.733, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 261 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 261 | |
| ], | |
| "contact_pct_left": 28.63, | |
| "contact_pct_right": 13.74, | |
| "mean_speed_left_mps": 0.2124, | |
| "mean_speed_right_mps": 0.1178, | |
| "file_size_mb": 37.06, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_003.segment_01.pt", | |
| "source_episode": "2026-05-11/episode_003", | |
| "source_segment_idx": 1, | |
| "n_frames": 8327, | |
| "duration_s": 277.567, | |
| "source_pt_frame_range": [ | |
| 271, | |
| 8597 | |
| ], | |
| "source_h5_frame_range": [ | |
| 271, | |
| 8597 | |
| ], | |
| "contact_pct_left": 35.22, | |
| "contact_pct_right": 29.27, | |
| "mean_speed_left_mps": 0.197, | |
| "mean_speed_right_mps": 0.1722, | |
| "file_size_mb": 1171.88, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_003.segment_02.pt", | |
| "source_episode": "2026-05-11/episode_003", | |
| "source_segment_idx": 2, | |
| "n_frames": 1424, | |
| "duration_s": 47.467, | |
| "source_pt_frame_range": [ | |
| 8608, | |
| 10031 | |
| ], | |
| "source_h5_frame_range": [ | |
| 8608, | |
| 10031 | |
| ], | |
| "contact_pct_left": 24.65, | |
| "contact_pct_right": 19.87, | |
| "mean_speed_left_mps": 0.2019, | |
| "mean_speed_right_mps": 0.1895, | |
| "file_size_mb": 200.56, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_004.segment_00.pt", | |
| "source_episode": "2026-05-11/episode_004", | |
| "source_segment_idx": 0, | |
| "n_frames": 2638, | |
| "duration_s": 87.933, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 2637 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 2637 | |
| ], | |
| "contact_pct_left": 31.65, | |
| "contact_pct_right": 25.44, | |
| "mean_speed_left_mps": 0.203, | |
| "mean_speed_right_mps": 0.1767, | |
| "file_size_mb": 371.38, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_005.segment_00.pt", | |
| "source_episode": "2026-05-11/episode_005", | |
| "source_segment_idx": 0, | |
| "n_frames": 2594, | |
| "duration_s": 86.467, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 2593 | |
| ], | |
| "source_h5_frame_range": [ | |
| 2429, | |
| 5022 | |
| ], | |
| "contact_pct_left": 35.31, | |
| "contact_pct_right": 31.84, | |
| "mean_speed_left_mps": 0.1655, | |
| "mean_speed_right_mps": 0.1583, | |
| "file_size_mb": 365.19, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_005.segment_01.pt", | |
| "source_episode": "2026-05-11/episode_005", | |
| "source_segment_idx": 1, | |
| "n_frames": 10199, | |
| "duration_s": 339.967, | |
| "source_pt_frame_range": [ | |
| 2619, | |
| 12817 | |
| ], | |
| "source_h5_frame_range": [ | |
| 5048, | |
| 15246 | |
| ], | |
| "contact_pct_left": 43.87, | |
| "contact_pct_right": 34.93, | |
| "mean_speed_left_mps": 0.1651, | |
| "mean_speed_right_mps": 0.1446, | |
| "file_size_mb": 1435.28, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_005.segment_02.pt", | |
| "source_episode": "2026-05-11/episode_005", | |
| "source_segment_idx": 2, | |
| "n_frames": 1663, | |
| "duration_s": 55.433, | |
| "source_pt_frame_range": [ | |
| 12835, | |
| 14497 | |
| ], | |
| "source_h5_frame_range": [ | |
| 15264, | |
| 16926 | |
| ], | |
| "contact_pct_left": 52.44, | |
| "contact_pct_right": 26.94, | |
| "mean_speed_left_mps": 0.1728, | |
| "mean_speed_right_mps": 0.1198, | |
| "file_size_mb": 234.19, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_006.segment_00.pt", | |
| "source_episode": "2026-05-11/episode_006", | |
| "source_segment_idx": 0, | |
| "n_frames": 11990, | |
| "duration_s": 399.667, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 11989 | |
| ], | |
| "source_h5_frame_range": [ | |
| 0, | |
| 11989 | |
| ], | |
| "contact_pct_left": 36.03, | |
| "contact_pct_right": 35.03, | |
| "mean_speed_left_mps": 0.1316, | |
| "mean_speed_right_mps": 0.1393, | |
| "file_size_mb": 1687.29, | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ] | |
| }, | |
| { | |
| "path": "mode2_v1/motherboard/2026-05-11/episode_007.segment_00.pt", | |
| "source_episode": "2026-05-11/episode_007", | |
| "source_segment_idx": 0, | |
| "n_frames": 5588, | |
| "duration_s": 186.267, | |
| "source_pt_frame_range": [ | |
| 0, | |
| 5587 | |
| ], | |
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