diff --git a/.gitattributes b/.gitattributes index 5a81854ae27158420c38da1d8a5a16c32ce602ef..ab0fad945f8b1d157fb5a589461acca10f42c339 100644 --- a/.gitattributes +++ b/.gitattributes @@ -98,3 +98,5 @@ processed/single_cube/processed_joints_all2.zarr/data/state_ee_full/c/0/0 filter processed/single_cube/processed_joints_all2.zarr/data/state_ee_full/c/1/0 filter=lfs diff=lfs merge=lfs -text processed/single_cube/processed_joints_all2.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text processed/single_cube/processed_joints_all2.zarr/data/state_joints/c/1/0 filter=lfs diff=lfs merge=lfs -text +processed/single_cube/processed_joints_all2.zarr/data/action_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text +raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..8312f52b6adf1920bf2ab9c17217ad73e8e66d16 --- /dev/null +++ b/README.md @@ -0,0 +1,28 @@ +# Datasets + +The recorded SO-100 teleop data is **not stored in git**. It lives on the +Hugging Face Hub: + +**https://huggingface.co/datasets/PrajnaYang/World_model_sim** + +## Download + +```bash +pip install "huggingface_hub[cli]" +# fetch everything into ./datasets/ +hf download PrajnaYang/World_model_sim --repo-type dataset --local-dir datasets +``` + +## Layout + +``` +datasets/ +├── raw/ recorded teleop episodes (per task) +│ ├── single_cube/{teleop,dagger} +│ └── multi_cube/teleop +└── processed/ zarr stores consumed by the training scripts + ├── single_cube/*.zarr + └── multi_cube/*.zarr +``` + +After downloading, `python scripts/prepare_data.py` verifies the data + sim. diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/c/0/0 index e61c0acc6de78523336a9042ee915e76417db534..13aa2db2ccc3f9374a47f76d3f0f1dabe4907f50 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/zarr.json index da72b9cf80e780e0bf5e611370f75ebb932db41c..e7df356a074126d32da12b8bc1da6ee474cd6f98 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/c/0/0 index fbb44e9045e47897e24aa4d9b5e92b97748e7a42..573a6d61929663e9db341bb974acd045a8428108 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/zarr.json index eb4d7602fdea9f99c0caad9c84ea64add96e76d2..4f5dbea5aeaee529c0240dfc1b213cb9b1b5e926 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/c/0/0 index af8fc71bafe4950a9892e5a81602a6282a36697a..2689d56357b71cc6040b3ea270f96a8591d251a2 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/zarr.json index da72b9cf80e780e0bf5e611370f75ebb932db41c..e7df356a074126d32da12b8bc1da6ee474cd6f98 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/c/0/0 index efbbce19585092a1951e509ecaffc8b5950f9b7e..d942706847d3f5205f8ae98aa3d985d3b94a69dc 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/zarr.json index af4d03cdb35526108ea7bc4bcbd58e1abb60cbbf..7bee0010418ccb65e217add85bc87df1e000865b 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/c/0/0 index 69f4ed97fee1271d847f23952e0a16e1c93691a5..87a1dd158504eccecb9982181d3cec7d062d9b33 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/zarr.json index af4d03cdb35526108ea7bc4bcbd58e1abb60cbbf..7bee0010418ccb65e217add85bc87df1e000865b 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/c/0/0 index 9eca024be5c3f8e236a1ed27f9fa4d0917c50f83..6d955b0e5e12f0e8a8e23d738443f4be968db4e1 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/zarr.json index af4d03cdb35526108ea7bc4bcbd58e1abb60cbbf..7bee0010418ccb65e217add85bc87df1e000865b 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/c/0/0 index d4b31cacafc1e2ef92200d0a6697263948d2bf12..140cac72018172b7cfa441afc1726f30841fe63c 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/zarr.json index af4d03cdb35526108ea7bc4bcbd58e1abb60cbbf..7bee0010418ccb65e217add85bc87df1e000865b 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/c/0/0 index 3d891e12beb5c2009aa68fa8e45ed49e22ebb07f..b945899c071802fa678b3dfb3128c69a3cce6949 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/zarr.json index da72b9cf80e780e0bf5e611370f75ebb932db41c..e7df356a074126d32da12b8bc1da6ee474cd6f98 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/c/0/0 index bf23931c825c0f675e4b3642b076781ecdfcaff9..1c241136a22253fe27181f2e7e6a1f3fb725e545 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/zarr.json index da72b9cf80e780e0bf5e611370f75ebb932db41c..e7df356a074126d32da12b8bc1da6ee474cd6f98 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/c/0/0 index cf106309c2b2f6b8080152face13cbf8d1f623fd..38e5a5f810234a2b16fb4183e733bd80d73b8cb7 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/zarr.json index eb4d7602fdea9f99c0caad9c84ea64add96e76d2..4f5dbea5aeaee529c0240dfc1b213cb9b1b5e926 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/c/0/0 b/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/c/0/0 index 3107773f8ef326dd3c59c1d197a0281e5077c57a..32126f376137548a1d261cadb6cf51d51fcfa6ab 100644 Binary files a/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/c/0/0 and b/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/c/0/0 differ diff --git a/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/zarr.json b/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/zarr.json index 08eff182c8ebf8000f264e853dda2919a221ab4b..7051bf80547a4e6cc8933131fe7a39ac34e3a2e8 100644 --- a/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/zarr.json +++ b/processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/zarr.json @@ -28,11 +28,10 @@ } }, { - "name": "numcodecs.blosc", + "name": "zstd", "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "level": 0, + "checksum": false } } ], diff 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a/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/c/99/0 b/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/c/99/0 deleted file mode 100644 index 485e4f75304a10ee17916b2d1bca703671861115..0000000000000000000000000000000000000000 Binary files a/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/c/99/0 and /dev/null differ diff --git a/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/zarr.json b/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/zarr.json index fcd89746a25542395346a1341f1d33ef938b4302..0ab0a08135788e78c6c32f4c25d5aca08250c513 100644 --- a/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/zarr.json +++ b/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_joints/zarr.json @@ -8,7 +8,7 @@ "name": "regular", "configuration": { "chunk_shape": [ - 12, + 3444, 6 ] } @@ -22,17 +22,39 @@ "fill_value": 0.0, "codecs": [ { - "name": "bytes", + "name": "sharding_indexed", "configuration": { - "endian": "little" - } - }, - { - "name": "numcodecs.blosc", - "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "chunk_shape": [ + 12, + 6 + ], + "codecs": [ + { + "name": "bytes", + "configuration": { + "endian": "little" + } + }, + { + "name": "zstd", + "configuration": { + "level": 0, + "checksum": false + } + } + ], + "index_codecs": [ + { + "name": "bytes", + "configuration": { + "endian": "little" + } + }, + { + "name": "crc32c" + } + ], + "index_location": "end" } } ], diff --git a/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_obstacle/zarr.json b/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_obstacle/zarr.json index 96cd99a6e0b65dbadf8786a4a6ba352f9c5a4425..13b67cd9b0a6a947e0c8f7ef37cd5b0cf088ef7a 100644 --- a/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_obstacle/zarr.json +++ b/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr/data/state_obstacle/zarr.json @@ -8,7 +8,7 @@ "name": "regular", "configuration": { "chunk_shape": [ - 12, + 3444, 3 ] } @@ -22,17 +22,39 @@ "fill_value": 0.0, "codecs": [ { - "name": "bytes", + "name": "sharding_indexed", "configuration": { - "endian": "little" - } - }, - { - "name": "numcodecs.blosc", - "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "chunk_shape": [ + 12, + 3 + ], + "codecs": [ + { + "name": "bytes", + "configuration": { + "endian": "little" + } + }, + { + "name": "zstd", + "configuration": { + "level": 0, + "checksum": false + } + } + ], + "index_codecs": [ + { + "name": "bytes", + "configuration": { + "endian": "little" + } + }, + { + "name": "crc32c" + } + ], + "index_location": "end" } } ], diff --git 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a/raw/single_cube/dagger/2026-03-22_22-30-28/so100_transfer_cube_teleop.zarr/data/state_obstacle/zarr.json +++ b/raw/single_cube/dagger/2026-03-22_22-30-28/so100_transfer_cube_teleop.zarr/data/state_obstacle/zarr.json @@ -8,7 +8,7 @@ "name": "regular", "configuration": { "chunk_shape": [ - 12, + 432, 3 ] } @@ -22,17 +22,39 @@ "fill_value": 0.0, "codecs": [ { - "name": "bytes", + "name": "sharding_indexed", "configuration": { - "endian": "little" - } - }, - { - "name": "numcodecs.blosc", - "configuration": { - "cname": "zstd", - "clevel": 3, - "shuffle": 2 + "chunk_shape": [ + 12, + 3 + ], + "codecs": [ + { + "name": "bytes", + "configuration": { + "endian": "little" + } + }, + { + "name": "zstd", + "configuration": { + "level": 0, + "checksum": false + } + } + ], + "index_codecs": [ + { + "name": "bytes", + "configuration": { + "endian": "little" + } + }, + { + "name": "crc32c" + } + ], + "index_location": "end" } } ], diff --git 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