Add the task05 demonstration shards

.gitattributes

@@ -58,3 +58,16 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+shards_l10_128/actions.f32 filter=lfs diff=lfs merge=lfs -text
+shards_l10_128/agent.u8 filter=lfs diff=lfs merge=lfs -text
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+shards_l10_128/wrist.u8 filter=lfs diff=lfs merge=lfs -text
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+shards_rt15_128/task_idx.u8 filter=lfs diff=lfs merge=lfs -text
+shards_rt15_128/wrist.u8 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,26 @@
+---
+pretty_name: RLE-Bench task05
+tags:
+- robotics
+- libero
+- robotwin
+---
+
+# RLE-Bench task05
+
+Demonstration shards mounted by the task05 (nanoVLA) cells: 128x128 frames stored as flat
+little-endian arrays with JSON sidecars. `rlebench prepare task05` fetches them at a pinned
+revision and checks every file against `SHA256SUMS`.
+
+| directory | source | tasks | episodes | frames | state / action dim |
+|---|---|---|---|---|---|
+| `shards_l10_128/` | LIBERO-10 from `physical-intelligence/libero` at `a4336d589d589045d1c56423ffdf3b88a0e19b1f` | 10 | 379 | 101469 | 8 / 7 |
+| `shards_rt15_128/` | RoboTwin 2.0 aloha-agilex clean demonstrations (`clean50`) | 15 | 700 | 135519 | 16 / 14 |
+
+In each directory, `agent.u8` and `wrist.u8` hold `frames x 128 x 128 x 3` uint8 images (for
+RoboTwin, the two cameras `meta.json` lists), `state.f32` and `actions.f32` the per-frame vectors,
+`ep_end.i32` the episode boundaries, `task_idx.u8` the task of each frame and `meta.json` the
+shapes. The remaining files hold task strings and tokens, instructions, episode ids and
+normalisation statistics.
+
+The upstream datasets' licenses apply to the derived frames.

SHA256SUMS

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shards_l10_128/meta.json

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+{
+  "n_frames": 101469,
+  "n_episodes": 379,
+  "img_size": 128,
+  "state_dim": 8,
+  "act_dim": 7,
+  "n_tasks": 10,
+  "source": "physical-intelligence/libero",
+  "snapshot": "a4336d589d589045d1c56423ffdf3b88a0e19b1f",
+  "suite": "libero_10"
+}

shards_l10_128/norm_stats.json

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shards_l10_128/task_strs.json

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+[
+  "put the white mug on the left plate and put the yellow and white mug on the right plate",
+  "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+  "put the yellow and white mug in the microwave and close it",
+  "turn on the stove and put the moka pot on it",
+  "put both the alphabet soup and the cream cheese box in the basket",
+  "put both the alphabet soup and the tomato sauce in the basket",
+  "put both moka pots on the stove",
+  "put both the cream cheese box and the butter in the basket",
+  "put the black bowl in the bottom drawer of the cabinet and close it",
+  "pick up the book and place it in the back compartment of the caddy"
+]

shards_l10_128/task_tokens.json

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shards_l10_128/vocab.json

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+  "back": 4,
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+  "black": 6,
+  "book": 7,
+  "both": 8,
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+  "bowl": 10,
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+  "butter": 12,
+  "cabinet": 13,
+  "caddy": 14,
+  "cheese": 15,
+  "chocolate": 16,
+  "close": 17,
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+  "cream": 19,
+  "drawer": 20,
+  "in": 21,
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+  "microwave": 24,
+  "moka": 25,
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+  "tomato": 42,
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+  "white": 45,
+  "yellow": 46
+}

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shards_rt15_128/meta.json

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+  "n_episodes": 700,
+  "img_size": 128,
+  "state_dim": 16,
+  "act_dim": 14,
+  "n_tasks": 15,
+  "suite": "robotwin",
+  "config": "clean50",
+  "cameras": [
+    "head_camera",
+    "front_camera"
+  ],
+  "episodes_per_task": {
+    "adjust_bottle": 50,
+    "beat_block_hammer": 50,
+    "blocks_ranking_rgb": 50,
+    "click_alarmclock": 50,
+    "click_bell": 50,
+    "grab_roller": 50,
+    "handover_block": 50,
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+    "open_microwave": 29,
+    "pick_dual_bottles": 46,
+    "place_a2b_left": 50,
+    "place_container_plate": 50
+  },
+  "source": "RoboTwin 2.0 aloha-agilex clean demonstrations"
+}

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shards_rt15_128/task_names.json

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+[
+  "adjust_bottle",
+  "beat_block_hammer",
+  "blocks_ranking_rgb",
+  "click_alarmclock",
+  "click_bell",
+  "grab_roller",
+  "handover_block",
+  "hanging_mug",
+  "lift_pot",
+  "move_can_pot",
+  "open_laptop",
+  "open_microwave",
+  "pick_dual_bottles",
+  "place_a2b_left",
+  "place_container_plate"
+]

shards_rt15_128/task_strs.json

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+[
+  "adjust bottle",
+  "beat block hammer",
+  "blocks ranking rgb",
+  "click alarmclock",
+  "click bell",
+  "grab roller",
+  "handover block",
+  "hanging mug",
+  "lift pot",
+  "move can pot",
+  "open laptop",
+  "open microwave",
+  "pick dual bottles",
+  "place a2b left",
+  "place container plate"
+]

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