| { | |
| "artifacts": [ | |
| { | |
| "artifactType": "metadata", | |
| "byteSize": 2362, | |
| "contentType": "text/markdown", | |
| "path": "README.md" | |
| }, | |
| { | |
| "artifactType": "metadata", | |
| "byteSize": 550, | |
| "contentType": "text/markdown", | |
| "path": "UPSTREAM_LICENSE.md" | |
| }, | |
| { | |
| "artifactType": "parquet", | |
| "byteSize": 13948, | |
| "contentType": "application/vnd.apache.parquet", | |
| "path": "data/chunk-000/file-000.parquet" | |
| }, | |
| { | |
| "artifactType": "parquet", | |
| "byteSize": 2692, | |
| "contentType": "application/vnd.apache.parquet", | |
| "path": "meta/episodes/chunk-000/file-000.parquet" | |
| }, | |
| { | |
| "artifactType": "metadata", | |
| "byteSize": 2301, | |
| "contentType": "application/json", | |
| "path": "meta/info.json" | |
| }, | |
| { | |
| "artifactType": "metadata", | |
| "byteSize": 10526, | |
| "contentType": "application/json", | |
| "path": "meta/stats.json" | |
| }, | |
| { | |
| "artifactType": "parquet", | |
| "byteSize": 2168, | |
| "contentType": "application/vnd.apache.parquet", | |
| "path": "meta/tasks.parquet" | |
| }, | |
| { | |
| "artifactType": "metadata", | |
| "byteSize": 1426, | |
| "contentType": "application/json", | |
| "path": "provenance.json" | |
| }, | |
| { | |
| "artifactType": "report", | |
| "byteSize": 18777, | |
| "contentType": "application/json", | |
| "path": "validation-report.json" | |
| } | |
| ], | |
| "dataset": { | |
| "format": "lerobot", | |
| "formatVersion": "v3.0", | |
| "license": "apache-2.0", | |
| "name": "abc130k-screwdriver-mcap", | |
| "sourceDataset": "Voxel51/ABC-130k", | |
| "storageModel": "file_sharded" | |
| }, | |
| "report": { | |
| "adapter": { | |
| "actionTopic": "/left-arm-action.plot", | |
| "episodeCount": 1, | |
| "frameCount": 136, | |
| "source": "episode.fo.mcap", | |
| "sourceSynchronization": { | |
| "deltaMsMax": 0.0, | |
| "deltaMsP50": 0.0, | |
| "deltaMsP95": 0.0, | |
| "pairedMessages": 136, | |
| "pairingMethod": "message_index", | |
| "unpairedActionMessages": 0, | |
| "unpairedStateMessages": 0 | |
| }, | |
| "stateTopic": "/left-arm-state.plot", | |
| "type": "mcap", | |
| "version": "1.0.0" | |
| }, | |
| "checks": [ | |
| { | |
| "category": "metadata", | |
| "evidence": { | |
| "episodes": 1, | |
| "fps": 20, | |
| "frames": 136 | |
| }, | |
| "name": "metadata_counts", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "Dataset metadata counts" | |
| }, | |
| { | |
| "category": "schema", | |
| "evidence": { | |
| "framesRead": 136, | |
| "requiredColumns": 7 | |
| }, | |
| "name": "parquet_schema_and_counts", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "Parquet schema and frame count" | |
| }, | |
| { | |
| "category": "timeline", | |
| "evidence": { | |
| "episodesChecked": 1, | |
| "longestEpisodeFrames": 136, | |
| "shortestEpisodeFrames": 136 | |
| }, | |
| "name": "episode_boundaries_and_timestamps", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "Episode boundaries and timestamps" | |
| }, | |
| { | |
| "category": "features", | |
| "evidence": { | |
| "featuresChecked": 2, | |
| "framesChecked": 136 | |
| }, | |
| "name": "feature_dimensions_and_finite_values", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "Feature dimensions and finite values" | |
| }, | |
| { | |
| "category": "metadata", | |
| "evidence": { | |
| "episodeRows": 1, | |
| "taskMetadataPresent": true | |
| }, | |
| "name": "v3_relational_metadata", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "LeRobot v3 relational metadata" | |
| }, | |
| { | |
| "category": "governance", | |
| "evidence": { | |
| "communityConversion": true, | |
| "sourceLicense": "apache-2.0" | |
| }, | |
| "name": "license_and_provenance", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "License and provenance" | |
| }, | |
| { | |
| "category": "compatibility", | |
| "evidence": { | |
| "episodesLoaded": 1, | |
| "framesLoaded": 136 | |
| }, | |
| "name": "official_lerobot_reader", | |
| "severity": "critical", | |
| "status": "passed", | |
| "title": "Official LeRobot reader" | |
| } | |
| ], | |
| "dataset": { | |
| "episodeCount": 1, | |
| "format": "lerobot", | |
| "formatVersion": "v3.0", | |
| "fps": 20, | |
| "frameCount": 136, | |
| "inputCount": 1, | |
| "name": "abc130k-screwdriver-mcap", | |
| "robotType": "ABC-130k bimanual teleoperation", | |
| "taskCount": 1 | |
| }, | |
| "episodeCount": 1, | |
| "findings": [ | |
| { | |
| "category": "training_quality", | |
| "confidence": "medium", | |
| "evidence": { | |
| "outlierFrameRatePct": 37.5 | |
| }, | |
| "id": "observation-state-outliers", | |
| "message": "Some frames are more than six median absolute deviations from the feature median.", | |
| "recommendation": "Inspect the affected signal for unit changes, resets, clipping, or corrupt samples.", | |
| "severity": "medium", | |
| "title": "observation.state contains robust outliers" | |
| }, | |
| { | |
| "category": "training_quality", | |
| "confidence": "medium", | |
| "evidence": { | |
| "outlierFrameRatePct": 37.5 | |
| }, | |
| "id": "action-outliers", | |
| "message": "Some frames are more than six median absolute deviations from the feature median.", | |
| "recommendation": "Inspect the affected signal for unit changes, resets, clipping, or corrupt samples.", | |
| "severity": "medium", | |
| "title": "action contains robust outliers" | |
| } | |
| ], | |
| "frameCount": 136, | |
| "inputCount": 1, | |
| "limitations": [ | |
| "Automated readiness checks do not measure downstream policy performance or task success.", | |
| "Action saturation uses observed signal behavior unless hardware command limits are supplied separately.", | |
| "Visual blur, exposure, and frozen-frame findings are heuristics and should be confirmed with representative episode review.", | |
| "Output timestamp regularity is distinct from source synchronization; review the source alignment evidence." | |
| ], | |
| "modalities": [ | |
| { | |
| "codec": null, | |
| "depthUnit": null, | |
| "dtype": "float32", | |
| "feature": "action", | |
| "fps": null, | |
| "kind": "action", | |
| "pixelFormat": null, | |
| "shape": [ | |
| 12 | |
| ] | |
| }, | |
| { | |
| "codec": null, | |
| "depthUnit": null, | |
| "dtype": "float32", | |
| "feature": "observation.state", | |
| "fps": null, | |
| "kind": "state", | |
| "pixelFormat": null, | |
| "shape": [ | |
| 26 | |
| ] | |
| } | |
| ], | |
| "provenance": { | |
| "adapter": { | |
| "revision": "4230bc4b56abe85116b202398b1a625a81c1c55c", | |
| "type": "mcap", | |
| "version": "1.0.0" | |
| }, | |
| "sourceDataset": "Voxel51/ABC-130k", | |
| "sourceLicense": "apache-2.0", | |
| "sourceRevision": "9659e8ce4b39580f48369cc31bc2e47a217c40e7" | |
| }, | |
| "quality": { | |
| "dataset": { | |
| "durationSeconds": 6.8, | |
| "episodeCount": 1, | |
| "fps": 20, | |
| "frameCount": 136 | |
| }, | |
| "episodes": { | |
| "durationSeconds": { | |
| "max": 6.8, | |
| "mean": 6.8, | |
| "min": 6.8, | |
| "p50": 6.8, | |
| "p95": 6.8 | |
| }, | |
| "lengthFrames": { | |
| "max": 136.0, | |
| "mean": 136.0, | |
| "min": 136.0, | |
| "p50": 136.0, | |
| "p95": 136.0 | |
| }, | |
| "longestEpisode": 0, | |
| "perEpisode": [ | |
| { | |
| "durationSeconds": 6.8, | |
| "episodeIndex": 0, | |
| "frameCount": 136, | |
| "outputIntervalJitterMsMax": 0.0003, | |
| "outputIntervalJitterMsP95": 0.0003 | |
| } | |
| ], | |
| "shortestEpisode": 0 | |
| }, | |
| "features": [ | |
| { | |
| "constantDimensionCount": 1, | |
| "constantDimensionIndices": [ | |
| 7 | |
| ], | |
| "dimensionCount": 26, | |
| "dimensionNames": [ | |
| "value.pose_pitch", | |
| "value.pose_roll", | |
| "value.pose_x", | |
| "value.pose_y", | |
| "value.pose_yaw", | |
| "value.pose_z", | |
| "value.position_0", | |
| "value.position_1", | |
| "value.position_2", | |
| "value.position_3", | |
| "value.position_4", | |
| "value.position_5", | |
| "value.torque_0", | |
| "value.torque_1", | |
| "value.torque_2", | |
| "value.torque_3", | |
| "value.torque_4", | |
| "value.torque_5", | |
| "value.torque_6", | |
| "value.velocity_0", | |
| "value.velocity_1", | |
| "value.velocity_2", | |
| "value.velocity_3", | |
| "value.velocity_4", | |
| "value.velocity_5", | |
| "value.velocity_6" | |
| ], | |
| "feature": "observation.state", | |
| "finiteValueRatePct": 100.0, | |
| "frameCount": 136, | |
| "kind": "state", | |
| "max": [ | |
| 1.3397902250289917, | |
| 3.108217716217041, | |
| 0.3714978098869324, | |
| 0.0013454935979098082, | |
| -3.059570074081421, | |
| 0.08189787715673447, | |
| -0.0875486359000206, | |
| 1.6149767637252808, | |
| 0.2302204966545105, | |
| 1.1491950750350952, | |
| -0.1970321238040924, | |
| -0.038719769567251205, | |
| 0.5264957547187805, | |
| -5.558974266052246, | |
| 6.8034186363220215, | |
| 2.6788766384124756, | |
| 0.07081807404756546, | |
| 0.13431014120578766, | |
| 0.0317460335791111, | |
| 0.0024420025292783976, | |
| 0.0024420025292783976, | |
| 0.007326007355004549, | |
| 0.021978022530674934, | |
| 0.03663003817200661, | |
| 0.06593406945466995, | |
| 0.015262515284121037 | |
| ], | |
| "mean": [ | |
| 1.3390678728328032, | |
| 3.1058258957722606, | |
| 0.37132085027063594, | |
| 0.0011542262132827412, | |
| -3.061237350982778, | |
| 0.0816809014581582, | |
| -0.08759351556791979, | |
| 1.6149767637252808, | |
| 0.22980255096712532, | |
| 1.1488388496286728, | |
| -0.1991582818548469, | |
| -0.03917417253422387, | |
| 0.47038713426274414, | |
| -5.720562994480133, | |
| 6.608647406101227, | |
| 2.657401382923126, | |
| 0.04532069310217219, | |
| 0.0995475129388711, | |
| -0.0033038857817540273, | |
| -0.0022624434923807927, | |
| -0.002513826105688863, | |
| -0.002190619893714457, | |
| -0.00657185964861556, | |
| -0.006140918036073665, | |
| -0.004632622321985443, | |
| 0.0024689363524564266 | |
| ], | |
| "min": [ | |
| 1.3379690647125244, | |
| 3.104041814804077, | |
| 0.37108102440834045, | |
| 0.0007996232016012073, | |
| -3.06327223777771, | |
| 0.08134447038173676, | |
| -0.0879301130771637, | |
| 1.6149767637252808, | |
| 0.2290760725736618, | |
| 1.1484321355819702, | |
| -0.200083926320076, | |
| -0.0394827201962471, | |
| 0.4444444477558136, | |
| -5.777777671813965, | |
| 6.557264804840088, | |
| 2.615384578704834, | |
| 0.012210012413561344, | |
| 0.08058608323335648, | |
| -0.03663003817200661, | |
| -0.012210012413561344, | |
| -0.007326007355004549, | |
| -0.007326007355004549, | |
| -0.03663003817200661, | |
| -0.05128205195069313, | |
| -0.05128205195069313, | |
| -0.009157509543001652 | |
| ], | |
| "p01": [ | |
| 1.3381007432937622, | |
| 3.104079782962799, | |
| 0.3710864454507828, | |
| 0.0008002795686479658, | |
| -3.062819790840149, | |
| 0.0813756950199604, | |
| -0.0879301130771637, | |
| 1.6149767637252808, | |
| 0.2290760725736618, | |
| 1.148565649986267, | |
| -0.200083926320076, | |
| -0.0394827201962471, | |
| 0.4444444477558136, | |
| -5.777777671813965, | |
| 6.557264804840088, | |
| 2.6366299986839294, | |
| 0.012210012413561344, | |
| 0.08547008782625198, | |
| -0.0317460335791111, | |
| -0.012210012413561344, | |
| -0.007326007355004549, | |
| -0.007326007355004549, | |
| -0.03150183269754052, | |
| -0.03663003817200661, | |
| -0.03663003817200661, | |
| -0.009157509543001652 | |
| ], | |
| "p50": [ | |
| 1.3390969038009644, | |
| 3.1053614616394043, | |
| 0.37132692337036133, | |
| 0.0011975785018876195, | |
| -3.0615031719207764, | |
| 0.08169007301330566, | |
| -0.0875486359000206, | |
| 1.6149767637252808, | |
| 0.2298390120267868, | |
| 1.1488136053085327, | |
| -0.1993209719657898, | |
| -0.039101243019104004, | |
| 0.458119660615921, | |
| -5.736752033233643, | |
| 6.5914528369903564, | |
| 2.6593406200408936, | |
| 0.05128205195069313, | |
| 0.10012210160493851, | |
| -0.0024420025292783976, | |
| -0.0024420025292783976, | |
| -0.0024420025292783976, | |
| -0.0024420025292783976, | |
| -0.007326007355004549, | |
| -0.007326007355004549, | |
| -0.007326007355004549, | |
| 0.003052503103390336 | |
| ], | |
| "p99": [ | |
| 1.33977010846138, | |
| 3.108120250701904, | |
| 0.3714954525232315, | |
| 0.0013236102007795128, | |
| -3.059665620326996, | |
| 0.08189385645091533, | |
| -0.0875486359000206, | |
| 1.6149767637252808, | |
| 0.2302204966545105, | |
| 1.1491950750350952, | |
| -0.1970321238040924, | |
| -0.038853285275399684, | |
| 0.5264957547187805, | |
| -5.641025543212891, | |
| 6.770598125457764, | |
| 2.67399263381958, | |
| 0.061050061136484146, | |
| 0.12600733079016213, | |
| 0.005616605666000423, | |
| 0.0024420025292783976, | |
| 0.0024420025292783976, | |
| 0.0024420025292783976, | |
| 0.007326007355004549, | |
| 0.021978022530674934, | |
| 0.06080586332827815, | |
| 0.013125763274729287 | |
| ], | |
| "repeatedExtremeValueRatePct": 11.15, | |
| "robustOutlierFrameRatePct": 37.5, | |
| "std": [ | |
| 0.00036293329814511473, | |
| 0.0011618132040546484, | |
| 0.0001072955272604164, | |
| 0.00015277791550321324, | |
| 0.0007426770785106344, | |
| 0.00012026450291021538, | |
| 0.00012290803240862838, | |
| 0.0, | |
| 0.0003267142767564753, | |
| 0.00011520695842245251, | |
| 0.0008699353008230373, | |
| 0.0001636530199601559, | |
| 0.02132009661225898, | |
| 0.03980770102736009, | |
| 0.043891716845479364, | |
| 0.008527067307990063, | |
| 0.012531726306319194, | |
| 0.007562994533623995, | |
| 0.007054818493385828, | |
| 0.002926095678501531, | |
| 0.0022927371787279604, | |
| 0.0025350272429338137, | |
| 0.010854575891061632, | |
| 0.013654373449995014, | |
| 0.016968582814269693, | |
| 0.004245108769741755 | |
| ], | |
| "unchangedTransitionRatePct": 0.0, | |
| "zeroValueRatePct": 0.0 | |
| }, | |
| { | |
| "constantDimensionCount": 0, | |
| "constantDimensionIndices": [], | |
| "dimensionCount": 12, | |
| "dimensionNames": [ | |
| "value.pose_pitch", | |
| "value.pose_roll", | |
| "value.pose_x", | |
| "value.pose_y", | |
| "value.pose_yaw", | |
| "value.pose_z", | |
| "value.position_0", | |
| "value.position_1", | |
| "value.position_2", | |
| "value.position_3", | |
| "value.position_4", | |
| "value.position_5" | |
| ], | |
| "feature": "action", | |
| "finiteValueRatePct": 100.0, | |
| "frameCount": 136, | |
| "kind": "action", | |
| "max": [ | |
| 1.4288179874420166, | |
| 3.1415023803710938, | |
| 0.381392240524292, | |
| 0.0014844206161797047, | |
| -3.0311007499694824, | |
| 0.10662360489368439, | |
| -0.08034219592809677, | |
| 1.6116373538970947, | |
| 0.25615084171295166, | |
| 1.2114732265472412, | |
| -0.18715763092041016, | |
| -0.026095153763890266 | |
| ], | |
| "mean": [ | |
| 1.4268269048017614, | |
| 2.8598858661511364, | |
| 0.38075244010371323, | |
| 0.0010919301870778914, | |
| -3.0362433615852806, | |
| 0.10598475053249036, | |
| -0.08112881420289769, | |
| 1.6096515278605854, | |
| 0.25332922181662393, | |
| 1.2097252572284025, | |
| -0.1890324153663481, | |
| -0.02708447174004772 | |
| ], | |
| "min": [ | |
| 1.4243887662887573, | |
| -3.141573905944824, | |
| 0.3806527256965637, | |
| 0.0006834028754383326, | |
| -3.0428977012634277, | |
| 0.10544804483652115, | |
| -0.08130097389221191, | |
| 1.6091458797454834, | |
| 0.25310683250427246, | |
| 1.206012487411499, | |
| -0.19020970165729523, | |
| -0.027610108256340027 | |
| ], | |
| "p01": [ | |
| 1.424896341562271, | |
| -3.1414845824241637, | |
| 0.3806591510772705, | |
| 0.0007482014218112454, | |
| -3.042590284347534, | |
| 0.10547599159181117, | |
| -0.08130097389221191, | |
| 1.6091460406780242, | |
| 0.25310683250427246, | |
| 1.2067741990089416, | |
| -0.19020110964775086, | |
| -0.027607372868806122 | |
| ], | |
| "p50": [ | |
| 1.4267864227294922, | |
| 3.137485980987549, | |
| 0.3807053416967392, | |
| 0.0010796466376632452, | |
| -3.0355610847473145, | |
| 0.10599515587091446, | |
| -0.08127641677856445, | |
| 1.6095299124717712, | |
| 0.25310683250427246, | |
| 1.2097463607788086, | |
| -0.18889940530061722, | |
| -0.02716265618801117 | |
| ], | |
| "p99": [ | |
| 1.428681480884552, | |
| 3.141358196735382, | |
| 0.3812937781214714, | |
| 0.001379441999597475, | |
| -3.031196713447571, | |
| 0.10650185085833072, | |
| -0.0804380513727665, | |
| 1.610754281282425, | |
| 0.25564748495817186, | |
| 1.2113889455795288, | |
| -0.18726999014616014, | |
| -0.026166534051299095 | |
| ], | |
| "repeatedExtremeValueRatePct": 7.54, | |
| "robustOutlierFrameRatePct": 37.5, | |
| "std": [ | |
| 0.0007692865253781319, | |
| 1.2892786147613313, | |
| 0.0001345343447679787, | |
| 0.00012499289142358521, | |
| 0.0030976013043359806, | |
| 0.00022340549449970803, | |
| 0.00026424913648909426, | |
| 0.00047514983668416137, | |
| 0.000570156968387113, | |
| 0.000784828817745581, | |
| 0.0005488387764424561, | |
| 0.000415847700245019 | |
| ], | |
| "unchangedTransitionRatePct": 0.0, | |
| "zeroValueRatePct": 0.0 | |
| } | |
| ], | |
| "media": [], | |
| "timeline": { | |
| "irregularOutputIntervalCount": 0, | |
| "note": "Output timestamps are normalized to the selected FPS; source synchronization is reported separately.", | |
| "outputIntervalJitterMs": { | |
| "max": 0.0003, | |
| "mean": 0.0001, | |
| "min": 0.0, | |
| "p50": 0.0001, | |
| "p95": 0.0003 | |
| }, | |
| "targetIntervalMs": 50.0 | |
| } | |
| }, | |
| "readiness": { | |
| "findingCounts": { | |
| "critical": 0, | |
| "high": 0, | |
| "low": 0, | |
| "medium": 2 | |
| }, | |
| "label": "Review recommended", | |
| "score": 84, | |
| "scoreMethod": "Severity-weighted findings; raw warnings are reported but not double-counted. This is not a model-performance guarantee.", | |
| "summary": "The dataset is structurally valid, with quality signals that deserve review.", | |
| "verdict": "review_recommended", | |
| "warningCount": 0 | |
| }, | |
| "recommendations": [ | |
| "Inspect the affected signal for unit changes, resets, clipping, or corrupt samples." | |
| ], | |
| "schemaVersion": "2.0", | |
| "source": { | |
| "actionKey": null, | |
| "actionTopic": "/left-arm-action.plot", | |
| "adapterType": "mcap", | |
| "adapterVersion": "1.0.0", | |
| "media": [], | |
| "mode": "adapter_discovery", | |
| "source": "episode.fo.mcap", | |
| "sourceSynchronization": { | |
| "deltaMsMax": 0.0, | |
| "deltaMsP50": 0.0, | |
| "deltaMsP95": 0.0, | |
| "pairedMessages": 136, | |
| "pairingMethod": "message_index", | |
| "unpairedActionMessages": 0, | |
| "unpairedStateMessages": 0 | |
| }, | |
| "stateKeys": null, | |
| "stateTopic": "/left-arm-state.plot" | |
| }, | |
| "status": "passed", | |
| "targetFormatVersion": "v3.0", | |
| "taskCount": 1, | |
| "warnings": [] | |
| } | |
| } | |