Add humanoid LeRobot v2.1 episode samples

Add 40 complete representative episodes: five samples from each of eight humanoid LeRobot v2.1 data sources, with provenance manifests and SHA-256 checksums.

.gitattributes

@@ -1453,3 +1453,117 @@ agibot_world_beta/task_604/videos/chunk-000/observation.images.head/episode_0000
 agibot_world_beta/task_604/videos/chunk-000/observation.images.head/episode_000004.mp4 filter=lfs diff=lfs merge=lfs -text
 agibot_world_beta/task_604/videos/chunk-000/observation.images.head/episode_000005.mp4 filter=lfs diff=lfs merge=lfs -text
 agibot_world_beta/task_604/videos/chunk-000/observation.images.head/episode_000006.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.hand_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.hand_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.head_back_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.head_left_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.head_right_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_00/videos/observation.images.top_head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.hand_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.hand_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.head_back_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.head_left_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.head_right_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_01/videos/observation.images.top_head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_02/videos/observation.images.hand_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_02/videos/observation.images.hand_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_02/videos/observation.images.head_back_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_02/videos/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_02/videos/observation.images.head_left_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_02/videos/observation.images.head_right_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/agibotworld2026/sample_03/videos/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_03/videos/observation.images.head_left_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_03/videos/observation.images.head_right_fisheye.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/agibotworld2026/sample_04/sidecars/observation.images.hand_left_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld2026/sample_04/sidecars/observation.images.hand_right_depth.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/agibotworld2026/sample_04/videos/observation.images.top_head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld_beta_no_torso/sample_00/videos/observation.images.hand_left.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/agibotworld_beta_no_torso/sample_03/videos/observation.images.hand_left.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/agibotworld_beta_no_torso/sample_03/videos/observation.images.head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld_beta_no_torso/sample_04/videos/observation.images.hand_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld_beta_no_torso/sample_04/videos/observation.images.hand_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/agibotworld_beta_no_torso/sample_04/videos/observation.images.head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_00/videos/observation.images.head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_00/videos/observation.images.left_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_00/videos/observation.images.right_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_01/videos/observation.images.head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_01/videos/observation.images.left_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_01/videos/observation.images.right_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_02/videos/observation.images.head.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/hiw_500/sample_02/videos/observation.images.left_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/hiw_500/sample_03/videos/observation.images.left_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/hiw_500/sample_04/videos/observation.images.right_wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/humanoid_everyday_g1/sample_00/videos/egocentric.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/humanoid_everyday_g1/sample_01/videos/egocentric.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/humanoid_everyday_g1/sample_02/videos/egocentric.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/humanoid_everyday_g1/sample_04/videos/egocentric.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/humanoid_everyday_h1/sample_00/videos/egocentric.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/humanoid_everyday_h1/sample_04/videos/egocentric.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_00/sidecars/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_00/videos/observation.images.hand_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_00/videos/observation.images.hand_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_00/videos/observation.images.head_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_00/videos/observation.images.head_stereo_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_00/videos/observation.images.head_stereo_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_01/sidecars/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_01/videos/observation.images.hand_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_01/videos/observation.images.hand_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_01/videos/observation.images.head_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_01/videos/observation.images.head_stereo_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_01/videos/observation.images.head_stereo_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_02/sidecars/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_02/videos/observation.images.hand_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_02/videos/observation.images.hand_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_02/videos/observation.images.head_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_02/videos/observation.images.head_stereo_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_02/videos/observation.images.head_stereo_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_03/sidecars/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_03/videos/observation.images.hand_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/icra_wbc/sample_03/videos/observation.images.head_stereo_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_04/sidecars/observation.images.head_depth.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_04/videos/observation.images.hand_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_04/videos/observation.images.hand_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_04/videos/observation.images.head_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_04/videos/observation.images.head_stereo_left_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/icra_wbc/sample_04/videos/observation.images.head_stereo_right_color.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/realsource_world/sample_00/videos/observation.images.head_camera.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/realsource_world/sample_00/videos/observation.images.left_hand_camera.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/realsource_world/sample_00/videos/observation.images.right_hand_camera.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/realsource_world/sample_01/videos/observation.images.head_camera.mp4 filter=lfs diff=lfs merge=lfs -text
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+humanoid_v21_samples/realsource_world/sample_03/videos/observation.images.head_camera.mp4 filter=lfs diff=lfs merge=lfs -text

humanoid_v21_samples/PAYLOAD_CHECKSUMS.sha256

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humanoid_v21_samples/README.md

@@ -0,0 +1,44 @@
+# Humanoid LeRobot v2.1 episode samples
+
+This folder contains **40 complete episodes**: five representative samples from each of eight logical data sources under `/mnt/data/dataset/PretrainData_v21/Humanoid`.
+
+The parquet, video, depth and ancillary payloads are byte-for-byte copies of the source files. This is an inspection/interoperability bundle, not a re-indexed drop-in LeRobot dataset: original episode indices are retained in `sample.json` and `manifest.json`.
+
+## Summary
+
+| Source | Robot type | Samples | Frames | Duration (min) | State dim | Action dim | Video files/sample |
+|---|---:|---:|---:|---:|---:|---:|---:|
+| AgibotWorld2026 | g2a | 5 | 5,353 | 2.97 | 162, 169, 183, 193 | 40, 44 | 6, 7 |
+| AgiBot-World-Beta-no-torso-movement_v21 | a2d | 5 | 3,544 | 1.97 | 55 | 36 | 3 |
+| HIW-500-LeRobot-v2 | unitree_g1 | 5 | 3,494 | 1.94 | 29 | 23 | 3 |
+| humanoid-everyday_v21_g1 | g1 | 5 | 1,949 | 1.08 | 69 | 28 | 1 |
+| humanoid-everyday_v21_h1 | h1 | 5 | 1,957 | 1.09 | 65 | 26 | 1 |
+| icra_wbc_v21 | unitree_g2 | 5 | 7,710 | 4.28 | 31 | 44 | 6 |
+| RealSourceData/RealSource-World | RS-02 | 5 | 9,553 | 5.31 | 71 | 17 | 3 |
+| unitreerobotics_v21 | unitree_g1 | 5 | 3,373 | 1.87 | 50, 60, 83 | 50, 60, 97 | 2, 4 |
+
+## Layout
+
+```text
+humanoid_v21_samples/
+├── manifest.json          # full bundle manifest
+├── manifest.jsonl         # one compact record per episode
+├── PAYLOAD_CHECKSUMS.sha256
+└── <dataset>/sample_XX/
+    ├── sample.json         # task, dimensions, provenance and per-file hashes
+    ├── data.parquet        # original episode parquet
+    ├── videos/             # registered RGB/depth video streams
+    ├── sidecars/           # ancillary parquet or unregistered/overlay depth
+    └── source_meta/         # original schema and available source metadata
+```
+
+## Selection and edge cases
+
+- Samples favor complete 10–60 second episodes and task/schema diversity; one RealSource long-horizon episode is intentionally included.
+- `icra_wbc/sample_*` retains `head_depth` under `sidecars/` because that stream exists physically but is absent from `info.json` features.
+- `agibotworld2026/sample_04` combines the simulation `lite` RGB/parquet payload with its `lite_depth_patch` overlay.
+- `humanoid_everyday_g1` and `humanoid_everyday_h1` retain their per-episode ancillary parquet files.
+- Unitree samples intentionally cover the 83/97, 60/60 and 50/50 schemas, including the two-view MainCamOnly variant.
+- Known missing, shifted, duplicated or malformed source episodes identified during the audit were excluded.
+
+Use `manifest.json` as the authoritative mapping from every uploaded file to its original path. Verify payload integrity with `sha256sum -c PAYLOAD_CHECKSUMS.sha256` from this directory.

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