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Annotation_with_action_lerobotv21/README.md

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+# RoboInter-Data: LeRobot v2.1 Format (Actions + Annotations + Videos)
+
+The primary data format of [RoboInter-Data](https://huggingface.co/datasets/InternRobotics/RoboInter-Data). Contains robot **actions**, camera **observations**, and rich **intermediate representation annotations** in [LeRobot v2.1](https://github.com/huggingface/lerobot) format (parquet + MP4 videos), ready for policy training. Especially, we calculate the delta EEF (gripper) action of Droid (instead of the joint velocity or the origin cartesian action of the base).
+
+| Sub-dataset | Source | Robot | Episodes | Frames | Tasks | Image Size | Raw Image Size |
+|-------------|--------|-------|----------|--------|-------|------------|-------|
+| `lerobot_droid_anno` | [DROID](https://droid-dataset.github.io/) | Franka + Robotiq | 152,986 | 46,259,014 | 43,026 | 320 x 180 | 640 x 360 |
+| `lerobot_rh20t_anno` | [RH20T](https://rh20t.github.io/) | Multiple | 82,894 | 40,755,632 | 146 | 320 x 180 | 640 x 360 |
+
+Both datasets share `fps=10`, `chunks_size=1000`, and the same annotation schema.
+
+## Directory Layout
+
+```
+lerobot_droid_anno/  (or lerobot_rh20t_anno/)
+├── meta/
+│   ├── info.json              # Dataset metadata (fps, features, shapes, etc.)
+│   ├── episodes.jsonl         # Per-episode info (one JSON per line)
+│   ├── episodes_stats.jsonl   # Per-episode statistics
+│   └── tasks.jsonl            # Task/instruction mapping
+├── data/
+│   └── chunk-{NNN}/           # Parquet data chunks (1,000 episodes per chunk)
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       └── ...
+└── videos/
+    └── chunk-{NNN}/
+        ├── observation.images.primary/
+        │   └── episode_{NNNNNN}.mp4
+        └── observation.images.wrist/
+            └── episode_{NNNNNN}.mp4
+```
+
+---
+
+## Data Fields
+
+### Core Fields (Shared by DROID & RH20T)
+
+| Field | Shape | Type | Description |
+|-------|-------|------|-------------|
+| `action` | (7,) | float64 | Delta EEF action: [delta_x, delta_y, delta_z, delta_rx, delta_ry, delta_rz, gripper_command] |
+| `state` | (7,) | float64 | EEF state: [x, y, z, rx, ry, rz, gripper_state] |
+| `observation.images.primary` | (180, 320, 3) | video (H.264) | Primary camera RGB video |
+| `observation.images.wrist` | (180, 320, 3) | video (H.264) | Wrist camera RGB video |
+
+### Metadata Fields (Shared)
+
+| Field | Type | Description |
+|-------|------|-------------|
+| `episode_name` | string | Episode unique identifier, e.g. `"3072_exterior_image_1_left"` |
+| `camera_view` | string | Camera perspective, e.g. `"exterior_image_1_left"` |
+| `task` | string | Task language description (via `task_index` -> `tasks.jsonl`) |
+| `episode_index` | int64 | Episode index in dataset |
+| `frame_index` | int64 | Frame index within episode |
+| `timestamp` | float32 | Timestamp in seconds (`frame_index / fps`) |
+| `index` | int64 | Global frame index across all episodes |
+| `task_index` | int64 | Index into `tasks.jsonl` |
+
+---
+
+### Other Information Fields — DROID Only
+
+`lerobot_droid_anno` contains the following additional fields from the original DROID dataset:
+
+| Field | Shape | Type | Description |
+|-------|-------|------|-------------|
+| `other_information.language_instruction_2` | (1,) | string | Alternative language instruction (source 2) |
+| `other_information.language_instruction_3` | (1,) | string | Alternative language instruction (source 3) |
+| `other_information.action_delta_tcp_pose` | (7,) | float64 | Delta TCP pose action: [dx, dy, dz, drx, dry, drz, gripper] |
+| `other_information.action_delta_wrist_pose` | (7,) | float64 | Delta wrist pose action: [dx, dy, dz, drx, dry, drz, gripper] |
+| `other_information.action_tcp_pose` | (7,) | float64 | Absolute TCP pose: [x, y, z, rx, ry, rz, gripper] |
+| `other_information.action_wrist_pose` | (7,) | float64 | Absolute wrist pose: [x, y, z, rx, ry, rz, gripper] |
+| `other_information.action_gripper_velocity` | (1,) | float64 | Gripper velocity |
+| `other_information.action_joint_position` | (7,) | float64 | Joint position action: [j1..j7] |
+| `other_information.action_joint_velocity` | (7,) | float64 | Joint velocity action: [j1..j7] |
+| `other_information.action_cartesian_velocity` | (6,) | float64 | Cartesian velocity: [vx, vy, vz, wx, wy, wz] |
+| `other_information.observation_joint_position` | (7,) | float64 | Observed joint positions: [j1..j7] |
+| `other_information.observation_gripper_position` | (1,) | float64 | Observed gripper position |
+| `other_information.observation_gripper_open_state` | (1,) | float64 | Gripper open state |
+| `other_information.observation_gripper_pose6d` | (6,) | float64 | Gripper 6D pose: [x, y, z, rx, ry, rz] |
+| `other_information.observation_tcp_pose6d` | (6,) | float64 | TCP 6D pose: [x, y, z, rx, ry, rz] |
+| `other_information.is_first` | (1,) | bool | First frame flag |
+| `other_information.is_last` | (1,) | bool | Last frame flag |
+| `other_information.is_terminal` | (1,) | bool | Terminal state flag |
+
+### Other Information Fields — RH20T Only
+
+`lerobot_rh20t_anno` contains the following additional fields from the original RH20T dataset:
+
+| Field | Shape | Type | Description |
+|-------|-------|------|-------------|
+| `other_information.action_delta_tcp_pose` | (7,) | float64 | Delta TCP pose action: [dx, dy, dz, drx, dry, drz, gripper] |
+| `other_information.action_tcp_pose` | (7,) | float64 | Absolute TCP pose: [x, y, z, rx, ry, rz, gripper] |
+| `other_information.gripper_command` | (1,) | float64 | Gripper command |
+| `other_information.observation_joint_position` | (14,) | float64 | Observed joint positions: [j1..j14] |
+| `other_information.observation_gripper_open_state` | (1,) | float64 | Gripper open state |
+| `other_information.observation_gripper_pose6d` | (6,) | float64 | Gripper 6D pose: [x, y, z, rx, ry, rz] |
+| `other_information.tcp_camera` | (7,) | float64 | TCP in camera frame: [x, y, z, qx, qy, qz, qw] |
+| `other_information.tcp_base` | (7,) | float64 | TCP in base frame: [x, y, z, qx, qy, qz, qw] |
+| `other_information.gripper` | (1,) | string | Gripper metadata (JSON) |
+| `other_information.is_first` | (1,) | bool | First frame flag |
+| `other_information.is_last` | (1,) | bool | Last frame flag |
+| `other_information.is_terminal` | (1,) | bool | Terminal state flag |
+
+> **Key difference:** DROID has 7-DoF joint positions and richer action representations (wrist pose, joint/cartesian velocities). RH20T has 14-DoF joint positions, TCP transforms in camera/base frames, and gripper metadata JSON.
+
+---
+
+### Annotation Fields (Shared by DROID & RH20T)
+
+All annotation fields are prefixed with `annotation.` and stored as JSON strings. Empty string `""` means no annotation is available for that frame.
+
+| Field | Format | Description |
+|-------|--------|-------------|
+| `annotation.time_clip` | `[[start, end], ...]` | Subtask temporal segments (frame ranges) |
+| `annotation.instruction_add` | string | Structured task language instruction |
+| `annotation.substask` | string | Current subtask description |
+| `annotation.primitive_skill` | string | Primitive skill label (pick, place, push, twist, etc.) |
+| `annotation.segmentation` | string | Segmentation reference (path) |
+| `annotation.object_box` | `[[x1, y1], [x2, y2]]` | Manipulated object bounding box |
+| `annotation.placement_proposal` | `[[x1, y1], [x2, y2]]` | Target placement bounding box |
+| `annotation.trace` | `[[x, y], ...]` | Future 10-frame gripper trajectory waypoints |
+| `annotation.gripper_box` | `[[x1, y1], [x2, y2]]` | Gripper bounding box |
+| `annotation.contact_frame` | int / -1 | Frame index when gripper contacts object (-1 = past contact) |
+| `annotation.state_affordance` | `[x, y, z, rx, ry, rz]` | 6D EEF state at contact frame |
+| `annotation.affordance_box` | `[[x1, y1], [x2, y2]]` | Gripper bounding box at contact frame |
+| `annotation.contact_points` | `[x, y]` | Contact point in pixel coordinates |
+| `annotation.origin_shape` | `[h, w]` | Original image resolution for coordinate reference |
+
+#### Bounding Box Format
+
+All bounding boxes use pixel coordinates with origin at top-left:
+```json
+[[x1, y1], [x2, y2]]   // [top-left, bottom-right]
+```
+
+#### Trace Format
+
+10 future waypoints for gripper trajectory prediction:
+```json
+[[110, 66], [112, 68], [115, 70], [118, 72], [120, 75], [122, 78], [125, 80], [128, 82], [130, 85], [132, 88]]
+```
+
+---
+
+### Q_Annotation Fields (Quality Indicators, Shared)
+
+Each annotation has a corresponding quality indicator prefixed with `Q_annotation.`:
+
+| Field | Values | Description |
+|-------|--------|-------------|
+| `Q_annotation.instruction_add` | `"Primary"` / `"Secondary"` / `""` | Instruction quality |
+| `Q_annotation.substask` | `"Primary"` / `"Secondary"` / `""` | Subtask quality |
+| `Q_annotation.primitive_skill` | `"Primary"` / `"Secondary"` / `""` | Primitive skill quality |
+| `Q_annotation.segmentation` | `"Primary"` / `"Secondary"` / `""` | Segmentation quality |
+| `Q_annotation.object_box` | `"Primary"` / `"Secondary"` / `""` | Object box quality |
+| `Q_annotation.placement_proposal` | `"Primary"` / `"Secondary"` / `""` | Placement proposal quality |
+| `Q_annotation.trace` | `"Primary"` / `"Secondary"` / `""` | Trace quality |
+| `Q_annotation.gripper_box` | `"Primary"` / `"Secondary"` / `""` | Gripper box quality |
+| `Q_annotation.contact_frame` | `"Primary"` / `"Secondary"` / `""` | Contact frame quality |
+| `Q_annotation.state_affordance` | `"Primary"` / `"Secondary"` / `""` | State affordance quality |
+| `Q_annotation.affordance_box` | `"Primary"` / `"Secondary"` / `""` | Affordance box quality |
+| `Q_annotation.contact_points` | `"Primary"` / `"Secondary"` / `""` | Contact points quality |
+
+- **Primary**: High-confidence annotation
+- **Secondary**: Acceptable quality, may have minor errors
+- **""** (empty): No annotation available
+
+---
+
+## Quick Start
+
+The dataloader code is at [RoboInterData/lerobot_dataloader](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData/lerobot_dataloader).
+
+### Installation
+
+```bash
+pip install numpy torch pyarrow av opencv-python
+```
+
+### Basic Usage
+
+```python
+from lerobot_dataloader import create_dataloader
+
+dataloader = create_dataloader(
+    "path/to/lerobot_droid_anno",
+    batch_size=32,
+    action_horizon=16,
+)
+
+for batch in dataloader:
+    images = batch["observation.images.primary"]  # (B, H, W, 3)
+    actions = batch["action"]                     # (B, 16, 7)
+    trace = batch["annotation.trace"]             # Parsed JSON lists
+    skill = batch["annotation.primitive_skill"]   # List of strings
+    break
+```
+
+### Multiple Datasets (DROID + RH20T)
+
+```python
+dataloader = create_dataloader(
+    [
+        "path/to/lerobot_droid_anno",
+        "path/to/lerobot_rh20t_anno",
+    ],
+    batch_size=32,
+    action_horizon=16,
+)
+
+for batch in dataloader:
+    print(batch["dataset_name"])  # Source dataset identifier
+    break
+```
+
+### Data Filtering
+
+#### Frame Range Filtering
+
+Remove idle frames at episode start/end using `range_nop.json`:
+
+```python
+dataloader = create_dataloader(
+    "path/to/lerobot_droid_anno",
+    range_nop_path="path/to/range_nop.json",
+)
+```
+
+Format of `range_nop.json`:
+```json
+{
+  "3072_exterior_image_1_left": [12, 217, 206]
+}
+```
+`[start_frame, end_frame, valid_length]` — frames outside this range are idle/stationary.
+
+#### Q_Annotation Filtering
+
+Select episodes by annotation quality:
+
+```python
+from lerobot_dataloader import create_dataloader, QAnnotationFilter
+
+# Only Primary quality
+dataloader = create_dataloader(
+    "path/to/lerobot_droid_anno",
+    q_filters=[
+        QAnnotationFilter("Q_annotation.instruction_add", ["Primary"]),
+        QAnnotationFilter("Q_annotation.gripper_box", ["Primary"]),
+    ]
+)
+
+# Any non-empty annotation
+dataloader = create_dataloader(
+    "path/to/lerobot_droid_anno",
+    q_filters=[
+        QAnnotationFilter("Q_annotation.trace", ["not_empty"])
+    ]
+)
+```
+
+#### Combined Filtering
+
+```python
+from lerobot_dataloader import FilterConfig, QAnnotationFilter
+
+config = FilterConfig(
+    range_nop_path="path/to/range_nop.json",
+    q_filters=[
+        QAnnotationFilter("Q_annotation.trace", ["Primary", "Secondary"]),
+    ],
+    q_filter_mode="all",  # "all" = AND, "any" = OR
+)
+
+dataloader = create_dataloader("path/to/lerobot_droid_anno", filter_config=config)
+```
+
+### Transforms
+
+```python
+from lerobot_dataloader import Compose, Normalize, ResizeImages, ToTensorImages, LeRobotDataset
+from lerobot_dataloader.transforms import compute_stats
+
+# Compute normalization stats
+dataset = LeRobotDataset("path/to/lerobot_droid_anno", load_videos=False)
+stats = compute_stats(dataset)
+
+# Create transform pipeline
+transform = Compose([
+    ResizeImages(height=224, width=224),
+    ToTensorImages(),   # (H,W,C) uint8 -> (C,H,W) float32
+    Normalize(stats),
+])
+
+dataloader = create_dataloader("path/to/lerobot_droid_anno", transform=transform)
+```
+
+### Direct Dataset Access
+
+```python
+from lerobot_dataloader import LeRobotDataset
+from lerobot_dataloader.transforms import ParseAnnotations
+
+dataset = LeRobotDataset(
+    "path/to/lerobot_droid_anno",
+    transform=ParseAnnotations(),
+)
+
+print(f"Total frames: {len(dataset)}")
+print(f"Total episodes: {dataset.num_episodes}")
+print(f"FPS: {dataset.fps}")
+
+sample = dataset[0]
+print(f"Action: {sample['action']}")
+print(f"Object box: {sample['annotation.object_box']}")
+print(f"Skill: {sample['annotation.primitive_skill']}")
+```
+
+---
+
+## Format Conversion
+
+The LeRobot v2.1 format was converted from original data + LMDB annotations using:
+
+- **DROID**: [convert_droid_to_lerobot_anno_fast.py](https://github.com/InternRobotics/RoboInter/blob/main/RoboInterData/convert_to_lerobot/convert_droid_to_lerobot_anno_fast.py)
+- **RH20T**: [convert_rh20t_to_lerobot_anno_fast.py](https://github.com/InternRobotics/RoboInter/blob/main/RoboInterData/convert_to_lerobot/convert_rh20t_to_lerobot_anno_fast.py)
+
+---
+
+## Related Resources
+
+| Resource | Link |
+|----------|------|
+| RoboInter-Data (parent dataset) | [HuggingFace](https://huggingface.co/datasets/InternRobotics/RoboInter-Data) |
+| RoboInter Project | [GitHub](https://github.com/InternRobotics/RoboInter) |
+| DataLoader Code | [lerobot_dataloader](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData/lerobot_dataloader) |
+| Conversion Scripts | [convert_to_lerobot](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData/convert_to_lerobot) |
+| Demo Visualizer | [RoboInterData-Demo](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData-Demo) |
+| DROID Dataset | [droid-dataset.github.io](https://droid-dataset.github.io/) |
+| RH20T Dataset | [rh20t.github.io](https://rh20t.github.io/) |
+
+## License
+
+Please refer to the original dataset licenses for [RoboInter](https://github.com/InternRobotics/RoboInter), [DROID](https://droid-dataset.github.io/), and [RH20T](https://rh20t.github.io/).

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