{ "artifacts": [ { "artifactType": "metadata", "byteSize": 7804, "contentType": "text/markdown", "path": "README.md" }, { "artifactType": "metadata", "byteSize": 555, "contentType": "text/markdown", "path": "UPSTREAM_LICENSE.md" }, { "artifactType": "parquet", "byteSize": 145680, "contentType": "application/vnd.apache.parquet", "path": "data/chunk-000/file-000.parquet" }, { "artifactType": "parquet", "byteSize": 8331, "contentType": "application/vnd.apache.parquet", "path": "meta/episodes/chunk-000/file-000.parquet" }, { "artifactType": "metadata", "byteSize": 4898, "contentType": "application/json", "path": "meta/info.json" }, { "artifactType": "metadata", "byteSize": 21041, "contentType": "application/json", "path": "meta/stats.json" }, { "artifactType": "parquet", "byteSize": 2366, "contentType": "application/vnd.apache.parquet", "path": "meta/tasks.parquet" }, { "artifactType": "metadata", "byteSize": 1372, "contentType": "application/json", "path": "provenance.json" }, { "artifactType": "report", "byteSize": 27725, "contentType": "application/json", "path": "validation-report.json" }, { "artifactType": "video", "byteSize": 5538100, "contentType": "video/mp4", "path": "videos/observation.images.cam_high/chunk-000/file-000.mp4" }, { "artifactType": "video", "byteSize": 5839303, "contentType": "video/mp4", "path": "videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4" }, { "artifactType": "video", "byteSize": 6031910, "contentType": "video/mp4", "path": "videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4" }, { "artifactType": "bundle", "byteSize": 31962, "contentType": "application/json", "path": "bundle-manifest.json" } ], "dataset": { "format": "lerobot", "formatVersion": "v3.0", "license": "mit", "name": "mobile-aloha-cabinet-episode0", "sourceDataset": "sumo43/mobile-aloha", "storageModel": "file_sharded" }, "report": { "adapter": { "actionKeys": [ "action", "base_action" ], "episodeCount": 1, "frameCount": 1500, "media": [ { "episodeCount": 1, "feature": "observation.images.cam_high", "kind": "rgb", "shape": [ 480, 640, 3 ], "sourceKey": "observations/images/cam_high" }, { "episodeCount": 1, "feature": "observation.images.cam_left_wrist", "kind": "rgb", "shape": [ 480, 640, 3 ], "sourceKey": "observations/images/cam_left_wrist" }, { "episodeCount": 1, "feature": "observation.images.cam_right_wrist", "kind": "rgb", "shape": [ 480, 640, 3 ], "sourceKey": "observations/images/cam_right_wrist" } ], "sources": [ "episode_0.hdf5" ], "stateKeys": [ "observations/qpos", "observations/qvel", "observations/effort" ], "type": "aloha", "version": "1.1.0" }, "checks": [ { "category": "metadata", "evidence": { "episodes": 1, "fps": 50, "frames": 1500 }, "name": "metadata_counts", "severity": "critical", "status": "passed", "title": "Dataset metadata counts" }, { "category": "schema", "evidence": { "framesRead": 1500, "requiredColumns": 7 }, "name": "parquet_schema_and_counts", "severity": "critical", "status": "passed", "title": "Parquet schema and frame count" }, { "category": "timeline", "evidence": { "episodesChecked": 1, "longestEpisodeFrames": 1500, "shortestEpisodeFrames": 1500 }, "name": "episode_boundaries_and_timestamps", "severity": "critical", "status": "passed", "title": "Episode boundaries and timestamps" }, { "category": "features", "evidence": { "featuresChecked": 5, "framesChecked": 1500 }, "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": "media", "evidence": { "framesPerFeature": 1500, "videoFeatures": 3 }, "name": "video_frame_alignment", "severity": "critical", "status": "passed", "title": "Video decoding and frame alignment" }, { "category": "governance", "evidence": { "communityConversion": true, "sourceLicense": "mit" }, "name": "license_and_provenance", "severity": "critical", "status": "passed", "title": "License and provenance" }, { "category": "compatibility", "evidence": { "episodesLoaded": 1, "framesLoaded": 1500 }, "name": "official_lerobot_reader", "severity": "critical", "status": "passed", "title": "Official LeRobot reader" } ], "dataset": { "episodeCount": 1, "format": "lerobot", "formatVersion": "v3.0", "fps": 50, "frameCount": 1500, "inputCount": 1, "name": "mobile-aloha-cabinet-episode0", "robotType": "Mobile ALOHA", "taskCount": 1 }, "episodeCount": 1, "findings": [ { "category": "training_quality", "confidence": "medium", "evidence": { "outlierFrameRatePct": 78.0 }, "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": 53.13 }, "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": 1500, "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": [ 16 ] }, { "codec": "h264", "depthUnit": null, "dtype": "video", "feature": "observation.images.cam_high", "fps": 50, "kind": "rgb", "pixelFormat": "yuv420p", "shape": [ 480, 640, 3 ] }, { "codec": "h264", "depthUnit": null, "dtype": "video", "feature": "observation.images.cam_left_wrist", "fps": 50, "kind": "rgb", "pixelFormat": "yuv420p", "shape": [ 480, 640, 3 ] }, { "codec": "h264", "depthUnit": null, "dtype": "video", "feature": "observation.images.cam_right_wrist", "fps": 50, "kind": "rgb", "pixelFormat": "yuv420p", "shape": [ 480, 640, 3 ] }, { "codec": null, "depthUnit": null, "dtype": "float32", "feature": "observation.state", "fps": null, "kind": "state", "pixelFormat": null, "shape": [ 42 ] } ], "provenance": { "adapter": { "revision": "sha256:98ca4808d193a7afb5fe63bf33ca2731f560079addbba5070f07ef3634175111", "type": "aloha", "version": "1.1.0" }, "sourceDataset": "sumo43/mobile-aloha", "sourceLicense": "mit", "sourceRevision": "855619e6f1a0aa3effca74fdcdfd651bc80bab9a" }, "quality": { "dataset": { "durationSeconds": 30.0, "episodeCount": 1, "fps": 50, "frameCount": 1500 }, "episodes": { "durationSeconds": { "max": 30.0, "mean": 30.0, "min": 30.0, "p50": 30.0, "p95": 30.0 }, "lengthFrames": { "max": 1500.0, "mean": 1500.0, "min": 1500.0, "p50": 1500.0, "p95": 1500.0 }, "longestEpisode": 0, "perEpisode": [ { "durationSeconds": 30.0, "episodeIndex": 0, "frameCount": 1500, "outputIntervalJitterMsMax": 0.0014, "outputIntervalJitterMsP95": 0.0014 } ], "shortestEpisode": 0 }, "features": [ { "constantDimensionCount": 2, "constantDimensionIndices": [ 20, 27 ], "dimensionCount": 42, "dimensionNames": [ "observations.qpos.0", "observations.qpos.1", "observations.qpos.2", "observations.qpos.3", "observations.qpos.4", "observations.qpos.5", "observations.qpos.6", "observations.qpos.7", "observations.qpos.8", "observations.qpos.9", "observations.qpos.10", "observations.qpos.11", "observations.qpos.12", "observations.qpos.13", "observations.qvel.0", "observations.qvel.1", "observations.qvel.2", "observations.qvel.3", "observations.qvel.4", "observations.qvel.5", "observations.qvel.6", "observations.qvel.7", "observations.qvel.8", "observations.qvel.9", "observations.qvel.10", "observations.qvel.11", "observations.qvel.12", "observations.qvel.13", "observations.effort.0", "observations.effort.1", "observations.effort.2", "observations.effort.3", "observations.effort.4", "observations.effort.5", "observations.effort.6", "observations.effort.7", "observations.effort.8", "observations.effort.9", "observations.effort.10", "observations.effort.11", "observations.effort.12", "observations.effort.13" ], "feature": "observation.state", "finiteValueRatePct": 100.0, "frameCount": 1500, "kind": "state", "max": [ 0.5890486240386963, 0.9249904155731201, 1.3115535974502563, 0.012271846644580364, 0.2822524607181549, 0.5614370107650757, 0.9995351433753967, 0.6550098061561584, 0.9526020884513855, 1.2363885641098022, 0.9572040438652039, 0.5184855461120605, 1.1857671737670898, 0.9996195435523987, 1.0311754941940308, 1.6786576509475708, 1.2949645519256592, 0.6714630722999573, 0.9592329859733582, 0.9352521300315857, 0.0, 1.1990412473678589, 1.5587536096572876, 1.0311754941940308, 1.5347727537155151, 1.2470028400421143, 1.7985618114471436, 0.0, 723.6099853515625, 368.5299987792969, 395.4300231933594, 454.6100158691406, 282.45001220703125, 1180.9100341796875, 809.6900024414062, 1374.590087890625, 376.6000061035156, 422.33001708984375, 403.5, 971.0900268554688, 269.0, 815.0700073242188 ], "mean": [ -0.2457324793979836, -0.10633964059067269, 0.5480504444983477, -0.2374612552189113, -0.4336246797805652, -0.09680646141835798, 0.3462120574748842, 0.2577640026549343, -0.1486887618851227, 0.5381552458859514, 0.1449008517206336, -0.2599044181617598, 0.19545472708065062, 0.40335606365092097, -0.008936853601286808, 0.022190255707750718, -0.030695454931507507, -0.004828139254202445, 0.01008793342486024, 0.0013109518128136793, 0.0, 0.009160674850145975, 0.014724226103474696, -0.026538779153178135, -0.0024780185222625733, 0.020927266305933397, 0.005531576835860808, 0.0, -42.54683407497406, -510.3181162198385, -457.97430235068003, 39.11977428754171, -156.76602988433837, 138.95284948952994, -151.67475370724995, 29.79085435326894, -467.1723088353475, -414.0788809309006, -33.27709376939138, -102.2253819586436, -76.10189489110311, -196.91158770338694 ], "min": [ -0.62126225233078, -0.9648739695549011, -0.5322913527488708, -0.7117670774459839, -1.5600584745407104, -1.1382137537002563, -0.0029615690000355244, -0.4049709439277649, -0.9648739695549011, -0.1902136206626892, -0.3405437469482422, -1.6198837757110596, -0.8866409063339233, 0.0019391276873648167, -1.0551562309265137, -1.0551562309265137, -1.2709836959838867, -1.1750603914260864, -1.151079535484314, -1.7026385068893433, 0.0, -0.7194247245788574, -0.8872904777526855, -1.127098798751831, -0.6954439282417297, -1.4148685932159424, -1.9184659719467163, 0.0, -1993.2900390625, -1788.85009765625, -1186.2900390625, -295.8999938964844, -718.2300415039062, -220.5800018310547, -1116.3499755859375, -1121.72998046875, -1457.97998046875, -1119.0400390625, -718.2300415039062, -484.20001220703125, -753.2000122070312, -1164.77001953125 ], "p01": [ -0.6181942820549011, -0.9434135764837265, -0.5277047371864318, -0.7102331519126892, -1.5569905042648315, -1.136679768562317, 0.01391688734292984, -0.40343695878982544, -0.9556853985786438, -0.18562702000141143, -0.3405437469482422, -1.6152971601486206, -0.8851069211959839, 0.037760958075523376, -0.8633096814155579, -1.0071946382522583, -1.1035975587368012, -0.9354919385910034, -1.0071946382522583, -0.9362113636732101, 0.0, -0.6237412285804749, -0.8393288254737854, -1.007434446811676, -0.5997604316473008, -1.2470028400421143, -1.247242648601532, 0.0, -847.0003344726562, -1450.125234375, -1057.1700439453125, -91.45999908447266, -610.6569049072266, -164.1168963623047, -807.0, -938.8099975585938, -1293.9976147460939, -1032.9868615722655, -629.4869219970703, -368.55689880371096, -664.4568927001953, -807.0 ], "p50": [ -0.30066025257110596, -0.18100973963737488, 0.5583690404891968, -0.1533980816602707, -0.3298058807849884, 0.05368933081626892, 0.04049402289092541, 0.2623107135295868, -0.20248547196388245, 0.452524334192276, -0.06826214864850044, -0.2262621745467186, 0.18100973963737488, 0.1122237779200077, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -5.380000114440918, -508.4100036621094, -425.02001953125, 18.829999923706055, -153.3300018310547, 0.0, -16.139999389648438, 0.0, -472.0950012207031, -387.3600158691406, 0.0, -121.05000305175781, 0.0, -94.1500015258789 ], "p99": [ 0.5752581572532653, 0.9234564304351807, 1.285506649017334, 0.010737866163253784, 0.2577701470255851, 0.5599030256271362, 0.9995351433753967, 0.6335954332351684, 0.951068103313446, 1.2210793924331664, 0.9556700587272644, 0.47714473575353616, 1.1842331886291504, 0.9996195435523987, 0.7916069817543028, 1.4388494491577148, 0.9352521300315857, 0.3836931884288788, 0.8155878371000288, 0.7673863768577576, 0.0, 0.8872904777526855, 1.2712235045433042, 0.8872904777526855, 1.0076742541790005, 0.8633096814155579, 1.0071946382522583, 0.0, 688.6669146728516, 228.67690917968747, 99.52999877929688, 298.6437963867187, 212.5907096862792, 1070.646895751953, 293.23689147949216, 828.5469195556641, 215.33451217651356, 153.35690185546872, 158.7100067138672, 484.20001220703125, 169.47000122070312, 182.97379821777338 ], "repeatedExtremeValueRatePct": 0.57, "robustOutlierFrameRatePct": 78.0, "std": [ 0.24262551816647093, 0.47118416628879617, 0.4742756122103105, 0.2165337389747345, 0.49726656178847867, 0.526718087775288, 0.4098954857327199, 0.21984678039244743, 0.46823824738320613, 0.4459182402651602, 0.40539658069454954, 0.5742534190404601, 0.6755341609622323, 0.4057024679669606, 0.24328163420881835, 0.4869605958700272, 0.4215127697092096, 0.16664308733203673, 0.3403067168746958, 0.25174118341634905, 0.0, 0.2444978930371571, 0.43186595369891867, 0.3789996796216229, 0.22424911842620218, 0.35002184114582197, 0.323668401601849, 0.0, 247.97897140228892, 402.0135686217076, 270.9842891129214, 83.6521766752814, 111.74517571156478, 332.5702873919573, 307.1986681461144, 246.50196983737436, 333.4893182560407, 254.72398397994326, 140.16708779543075, 143.56533058479437, 198.19856702917795, 293.82843642973813 ], "unchangedTransitionRatePct": 0.0, "zeroValueRatePct": 20.46 }, { "constantDimensionCount": 0, "constantDimensionIndices": [], "dimensionCount": 16, "dimensionNames": [ "action.0", "action.1", "action.2", "action.3", "action.4", "action.5", "action.6", "action.7", "action.8", "action.9", "action.10", "action.11", "action.12", "action.13", "base_action.0", "base_action.1" ], "feature": "action", "finiteValueRatePct": 100.0, "frameCount": 1500, "kind": "action", "max": [ 0.5890486240386963, 0.9081166386604309, 1.3115535974502563, 0.015339808538556099, 0.28071850538253784, 0.5629709362983704, 1.085756540298462, 0.6611457467079163, 0.9449321627616882, 1.2348545789718628, 0.954136073589325, 0.5215534567832947, 1.167359471321106, 1.1128268241882324, 0.25794973969459534, 0.15186570584774017 ], "mean": [ -0.24854988921231902, -0.1231418458680467, 0.5268651451349724, -0.2358383042330388, -0.4397483289184359, -0.0835784348998374, 0.3078201417710322, 0.26034722666807164, -0.16491316799462463, 0.5181920170480541, 0.14304268815446025, -0.2625602492715698, 0.18931369288917632, 0.3514766602163824, 0.018741521504474803, 0.0024467250617065776 ], "min": [ -0.6273981332778931, -0.9418642520904541, -0.5614370107650757, -0.7117670774459839, -1.5661944150924683, -1.1136701107025146, -0.11796724051237106, -0.4049709439277649, -0.9572040438652039, -0.21935926377773285, -0.3436117172241211, -1.6290876865386963, -0.8866409063339233, -0.07104548066854477, -0.27006006240844727, -0.14602473378181458 ], "p01": [ -0.6243302226066589, -0.9326603412628174, -0.5507144546508789, -0.7102331519126892, -1.5646604299545288, -1.1106021404266357, -0.06382673233747482, -0.4049709439277649, -0.9433982372283936, -0.19788353145122528, -0.34207773208618164, -1.6275537014007568, -0.8866409063339233, -0.0025757452636025824, -0.24222447097301483, -0.10903177417814731 ], "p50": [ -0.3037281930446625, -0.1986505165696144, 0.5414952039718628, -0.15033012628555298, -0.3328738510608673, 0.05522330850362778, 0.03182147443294525, 0.2623107135295868, -0.21935926377773285, 0.42951464653015137, -0.07056311517953873, -0.2147573158144951, 0.18100973963737488, 0.06971979141235352, 0.0030275790486484766, 0.0 ], "p99": [ 0.5767768025398254, 0.9081166386604309, 1.2824693584442137, 0.013805827125906944, 0.26077672839164734, 0.5583690404891968, 1.0298113822937012, 0.6366173839569091, 0.9387962818145752, 1.2149281120300293, 0.9526020884513855, 0.47252744078636166, 1.164291501045227, 1.0515037500858306, 0.2494725139439106, 0.12854069769382473 ], "repeatedExtremeValueRatePct": 0.73, "robustOutlierFrameRatePct": 53.13, "std": [ 0.24158331708492323, 0.46258708488491995, 0.47641562271283566, 0.21697246923661528, 0.4977894256193268, 0.5072912977103284, 0.42980723432019163, 0.2201580858225301, 0.45937348947834516, 0.44852624548443, 0.4068581102398981, 0.5766881523443825, 0.665189612935805, 0.42792367394540837, 0.09534843561608504, 0.03453549557634076 ], "unchangedTransitionRatePct": 0.07, "zeroValueRatePct": 1.47 } ], "media": [ { "brightFrameRatePct": 0.0, "brightness": { "p05": 110.49, "p50": 133.72, "p95": 160.4 }, "codec": "h264", "darkFrameRatePct": 0.0, "expectedFrameCount": 1500, "feature": "observation.images.cam_high", "frameCount": 1500, "frozenTransitionRatePct": 30.22, "height": 480, "kind": "rgb", "lowSharpnessFrameRatePct": 0.0, "path": "videos\\observation.images.cam_high\\chunk-000\\file-000.mp4", "pixelFormat": "yuv420p", "sampledFrameCount": 125, "sharpnessEnergyP50": 55.58, "width": 640 }, { "brightFrameRatePct": 0.0, "brightness": { "p05": 102.16, "p50": 127.65, "p95": 148.97 }, "codec": "h264", "darkFrameRatePct": 0.0, "expectedFrameCount": 1500, "feature": "observation.images.cam_left_wrist", "frameCount": 1500, "frozenTransitionRatePct": 20.95, "height": 480, "kind": "rgb", "lowSharpnessFrameRatePct": 12.8, "path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-000.mp4", "pixelFormat": "yuv420p", "sampledFrameCount": 125, "sharpnessEnergyP50": 21.12, "width": 640 }, { "brightFrameRatePct": 0.0, "brightness": { "p05": 92.18, "p50": 120.61, "p95": 148.62 }, "codec": "h264", "darkFrameRatePct": 0.0, "expectedFrameCount": 1500, "feature": "observation.images.cam_right_wrist", "frameCount": 1500, "frozenTransitionRatePct": 20.55, "height": 480, "kind": "rgb", "lowSharpnessFrameRatePct": 3.2, "path": "videos\\observation.images.cam_right_wrist\\chunk-000\\file-000.mp4", "pixelFormat": "yuv420p", "sampledFrameCount": 125, "sharpnessEnergyP50": 20.22, "width": 640 } ], "timeline": { "irregularOutputIntervalCount": 0, "note": "Output timestamps are normalized to the selected FPS; source synchronization is reported separately.", "outputIntervalJitterMs": { "max": 0.0014, "mean": 0.0005, "min": 0.0, "p50": 0.0005, "p95": 0.0014 }, "targetIntervalMs": 20.0 } }, "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": null, "adapterType": "aloha", "adapterVersion": "1.1.0", "media": [ { "episodeCount": 1, "feature": "observation.images.cam_high", "kind": "rgb", "shape": [ 480, 640, 3 ], "sourceKey": "observations/images/cam_high" }, { "episodeCount": 1, "feature": "observation.images.cam_left_wrist", "kind": "rgb", "shape": [ 480, 640, 3 ], "sourceKey": "observations/images/cam_left_wrist" }, { "episodeCount": 1, "feature": "observation.images.cam_right_wrist", "kind": "rgb", "shape": [ 480, 640, 3 ], "sourceKey": "observations/images/cam_right_wrist" } ], "mode": "adapter_discovery", "source": null, "sourceSynchronization": null, "stateKeys": [ "observations/qpos", "observations/qvel", "observations/effort" ], "stateTopic": null }, "status": "passed", "targetFormatVersion": "v3.0", "taskCount": 1, "warnings": [] } }