Datasets:

yxma
/

React

@@ -14,7 +14,11 @@ pretty_name: React (Tactile-Visual Manipulation)
 size_categories:
   - 10K<n<100K
 configs:
-  - config_name: mode1_v1
     data_files:
       - split: train
         path: processed/mode1_v1/**/episode_*.pt
@@ -35,22 +39,27 @@ Multimodal manipulation recordings from a bimanual setup with vision-based tacti
 All streams share a common monotonic timestamp axis recorded under `timestamps`. Per-tracker OptiTrack streams carry their own higher-rate timestamps under `optitrack/<body>/timestamps`.
-## Tasks recorded
-- **`motherboard`** — bimanual insertion / placement on a computer motherboard.
 ## Repository layout
 ```
 processed/
 └─ mode1_v1/
-    ├─ 2026-03-23/   #  3 episodes  (2,141 / 1,948 / 2,109 frames)
-    ├─ 2026-05-10/   # 12 episodes  ( 763 –  10,476 frames each)
-    └─ 2026-05-11/   # 17 episodes  ( 263 –  33,739 frames each)
-        ├─ episode_000.pt
-        ├─ episode_000.contact.json
-        ├─ episode_002.pt              # episode_001 missing (corrupt at recording time)
-        └─ ...
 ```
 The `processed/mode1_v1/` view is a **task-specific slice** of the underlying raw recordings, not the full sensor suite. It was produced by `twm/preprocess.py` + `twm/contact_index.py` from a private raw HDF5 mirror.
@@ -89,6 +98,16 @@ For each tactile sensor independently:
 ## Quick start
 ```python
 import torch
 from huggingface_hub import hf_hub_download
@@ -96,21 +115,21 @@ from huggingface_hub import hf_hub_download
 path = hf_hub_download(
     repo_id="yxma/React",
     repo_type="dataset",
-    filename="processed/mode1_v1/2026-05-11/episode_000.pt",
 )
 ep = torch.load(path, weights_only=False)
 print(ep["view"].shape, ep["tactile_left_intensity"].shape)
 # torch.Size([263, 3, 128, 128]) torch.Size([263])
 ```
-To load contact metadata only (much smaller — useful for filtering):
 ```python
 import json
 path = hf_hub_download(
     repo_id="yxma/React",
     repo_type="dataset",
-    filename="processed/mode1_v1/2026-05-11/episode_000.contact.json",
 )
 meta = json.load(open(path))
 print(meta["drift_left"], meta["drift_right"], meta["drift_warning"])
@@ -118,7 +137,7 @@ print(meta["drift_left"], meta["drift_right"], meta["drift_warning"])
 ## Known caveats
-- **Missing episode**: `2026-05-11/episode_001` was lost at recording time (HDF5 superblock never finalized when the writer was killed mid-write). It is intentionally absent.
 - **Lossy resize**: the 128×128 `view` and tactile fields are downsampled from native 480×640. Native resolution is **not** preserved in this release.
 - **Single camera**: only `realsense/cam0/color` is included. The other two RealSense views and all depth streams are not in `processed/mode1_v1/`.
 - **OptiTrack alignment**: the per-step poses are nearest-neighbor matched to camera ticks. The full ~120 Hz pose streams are not preserved here.
@@ -126,7 +145,8 @@ print(meta["drift_left"], meta["drift_right"], meta["drift_warning"])
 ## Roadmap
-A **LeRobot-format full-fidelity** variant (`lerobot/v1.0/`) is planned. It will include all three RealSense color and depth streams, GelSight at native resolution (FFV1 lossless), full-rate OptiTrack pose tracks for all three rigid bodies, and HF-native browser previews. The current `processed/mode1_v1/` slice will remain as a stable training-task view.
 ## Citation

 size_categories:
   - 10K<n<100K
 configs:
+  - config_name: motherboard
+    data_files:
+      - split: train
+        path: processed/mode1_v1/motherboard/**/episode_*.pt
+  - config_name: all
     data_files:
       - split: train
         path: processed/mode1_v1/**/episode_*.pt
 All streams share a common monotonic timestamp axis recorded under `timestamps`. Per-tracker OptiTrack streams carry their own higher-rate timestamps under `optitrack/<body>/timestamps`.
+## Tasks
+The dataset is organized **task-first** so new tasks can be added without renaming or recompute. Current tasks:
+| Task | Description | Dates | Episodes |
+|---|---|---|---|
+| `motherboard` | Bimanual manipulation of components on a computer motherboard | 2026-03-23, 2026-05-10, 2026-05-11 | 32 |
+`tasks.json` at the repo root is the source of truth for the task registry.
 ## Repository layout
 ```
+tasks.json                                          # registry
 processed/
 └─ mode1_v1/
+    └─ <task>/
+        └─ <date>/
+            ├─ episode_000.pt
+            ├─ episode_000.contact.json
+            └─ ...
 ```
 The `processed/mode1_v1/` view is a **task-specific slice** of the underlying raw recordings, not the full sensor suite. It was produced by `twm/preprocess.py` + `twm/contact_index.py` from a private raw HDF5 mirror.
 ## Quick start
+Load one task via `datasets`:
+```python
+from datasets import load_dataset
+ds = load_dataset("yxma/React", "motherboard", split="train")
+# Each row is one .pt file path; the actual tensors live inside.
+```
+Or load a single episode directly:
 ```python
 import torch
 from huggingface_hub import hf_hub_download
 path = hf_hub_download(
     repo_id="yxma/React",
     repo_type="dataset",
+    filename="processed/mode1_v1/motherboard/2026-05-11/episode_000.pt",
 )
 ep = torch.load(path, weights_only=False)
 print(ep["view"].shape, ep["tactile_left_intensity"].shape)
 # torch.Size([263, 3, 128, 128]) torch.Size([263])
 ```
+Load contact metadata only (much smaller — useful for filtering):
 ```python
 import json
 path = hf_hub_download(
     repo_id="yxma/React",
     repo_type="dataset",
+    filename="processed/mode1_v1/motherboard/2026-05-11/episode_000.contact.json",
 )
 meta = json.load(open(path))
 print(meta["drift_left"], meta["drift_right"], meta["drift_warning"])
 ## Known caveats
+- **Missing episode**: `motherboard/2026-05-11/episode_001` was lost at recording time (HDF5 superblock never finalized when the writer was killed mid-write). It is intentionally absent.
 - **Lossy resize**: the 128×128 `view` and tactile fields are downsampled from native 480×640. Native resolution is **not** preserved in this release.
 - **Single camera**: only `realsense/cam0/color` is included. The other two RealSense views and all depth streams are not in `processed/mode1_v1/`.
 - **OptiTrack alignment**: the per-step poses are nearest-neighbor matched to camera ticks. The full ~120 Hz pose streams are not preserved here.
 ## Roadmap
+- **More tasks** — registry in `tasks.json` will grow.
+- **LeRobot-format full-fidelity** variant (`lerobot/v1.0/`) is planned. It will include all three RealSense color and depth streams, GelSight at native resolution (FFV1 lossless), full-rate OptiTrack pose tracks for all three rigid bodies, and HF-native browser previews. The current `processed/mode1_v1/` slice will remain as a stable training-task view.
 ## Citation

tasks.json ADDED Viewed

	@@ -0,0 +1,12 @@

+{
+  "tasks": {
+    "motherboard": {
+      "language": "Bimanual manipulation of components on a computer motherboard.",
+      "dates": ["2026-03-23", "2026-05-10", "2026-05-11"],
+      "n_episodes": 32,
+      "notes": "Episode 2026-05-11/episode_001 lost at recording time (HDF5 superblock not finalized)."
+    }
+  },
+  "schema_version": "mode1_v1",
+  "layout": "processed/mode1_v1/<task>/<date>/episode_*.{pt,contact.json}"
+}