Add files using upload-large-folder tool

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@@ -58,3 +58,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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 *.webm filter=lfs diff=lfs merge=lfs -text
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+size 43160564

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huggingface_data/huggingface_data/0515_pharmaceutical_reagent_handling/dataset_metadata.json

@@ -0,0 +1,547 @@
+{
+  "id": "changxiang_0515_pharmaceutical_reagent_handling",
+  "source_collection": "changxiang",
+  "raw_dataset_id": "515_chemistry",
+  "annotated_dataset_id": "515_chemistry",
+  "task": "pharmaceutical reagent handling and lab apparatus assembly",
+  "environment": "pharmaceutical lab",
+  "object": "varies by episode range",
+  "objects": [
+    "dropper, reagent container, and sample tube",
+    "flask, funnel, clamp, and reagent bottle",
+    "flask, tube, clamp, base, and reagent bottle",
+    "powder reagent container, lab spoon, and receiving vessel",
+    "reagent bottle and cap"
+  ],
+  "actions": [
+    "picking up",
+    "adjusting",
+    "scooping",
+    "pouring",
+    "placing",
+    "placing spoon",
+    "titrating",
+    "shaking to mix",
+    "placing dropper",
+    "picking up spoon",
+    "opening cap",
+    "closing cap",
+    "placing test tube",
+    "securing flask",
+    "assembling apparatus",
+    "inserting tube",
+    "pressing",
+    "removing tube",
+    "disassembling apparatus",
+    "releasing clamp",
+    "picking up flask",
+    "picking up base",
+    "placing base",
+    "placing flask",
+    "picking up funnel",
+    "transferring",
+    "picking up apparatus",
+    "placing apparatus",
+    "placing funnel",
+    "picking up and assembling funnel",
+    "disassembling funnel",
+    "picking up tube",
+    "picking up bottle",
+    "changing bottle grip",
+    "placing bottle",
+    "picking up Erlenmeyer flask",
+    "placing Erlenmeyer flask",
+    "securing Erlenmeyer flask",
+    "changing funnel grip",
+    "picking up three-neck flask",
+    "securing three-neck flask",
+    "assembling funnel",
+    "releasing three-neck flask clamp",
+    "placing three-neck flask"
+  ],
+  "action_counts": {
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+    "adjusting": 41,
+    "scooping": 41,
+    "pouring": 88,
+    "placing": 105,
+    "placing spoon": 40,
+    "titrating": 111,
+    "shaking to mix": 25,
+    "placing dropper": 21,
+    "picking up spoon": 1,
+    "opening cap": 24,
+    "closing cap": 23,
+    "placing test tube": 1,
+    "securing flask": 17,
+    "assembling apparatus": 20,
+    "inserting tube": 13,
+    "pressing": 27,
+    "removing tube": 11,
+    "disassembling apparatus": 13,
+    "releasing clamp": 23,
+    "picking up flask": 6,
+    "picking up base": 6,
+    "placing base": 7,
+    "placing flask": 7,
+    "picking up funnel": 14,
+    "transferring": 1,
+    "picking up apparatus": 2,
+    "placing apparatus": 1,
+    "placing funnel": 14,
+    "picking up and assembling funnel": 2,
+    "disassembling funnel": 14,
+    "picking up tube": 3,
+    "picking up bottle": 15,
+    "changing bottle grip": 17,
+    "placing bottle": 13,
+    "picking up Erlenmeyer flask": 7,
+    "placing Erlenmeyer flask": 6,
+    "securing Erlenmeyer flask": 1,
+    "changing funnel grip": 4,
+    "picking up three-neck flask": 7,
+    "securing three-neck flask": 7,
+    "assembling funnel": 7,
+    "releasing three-neck flask clamp": 1,
+    "placing three-neck flask": 7
+  },
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+    "dropper, reagent container, and sample tube": 205,
+    "reagent bottle and cap": 115,
+    "flask, tube, clamp, base, and reagent bottle": 214,
+    "flask, funnel, clamp, and reagent bottle": 147
+  },
+  "grasp_type_counts": {
+    "Small Diameter": 913,
+    "Tip Pinch": 3
+  },
+  "split": "train",
+  "annotated_segments": 916,
+  "annotated_episodes": 121,
+  "source_raw_dataset": "E:\\changxiang_datasets\\515_chemistry",
+  "source_annotated_release": "E:\\annotated_data\\changxiang_export_0515\\export_515_chemistry",
+  "package_created_at": "2026-05-28T05:16:34.179050+00:00",
+  "processing_notes": [
+    "Labels were normalized to English in this Hugging Face package only.",
+    "No episodes were removed because every raw episode has at least one approved annotation.",
+    "Only segment directories referenced by annotations.jsonl were included in annotated/; extra exported segment folders were ignored.",
+    "The original source validation report listed video export errors, but every included segment file was verified non-empty during packaging.",
+    "Post-cleanup 2026-05-28T06:09:44.044773+00:00: removed 8 raw episodes and 69 annotated segments with QR visibility/invalid/P0 export issues; removed files moved to E:\\huggingface_data_removed_20260528_140418.",
+    "Revised cleanup on 2026-05-28: P0 video export failures were treated as recoverable; valid segments and their raw episodes were restored, while explicit invalid/QR-out-of-view segments were removed at segment level."
+  ],
+  "modalities": [
+    "ego_video",
+    "side_video",
+    "tactile_parquet"
+  ],
+  "segment_id_format": "rbt_epXXXXXX_sXXXXXX",
+  "validation_summary": {
+    "p0": 0,
+    "p1": 916,
+    "p2": 0
+  },
+  "task_ranges": [
+    {
+      "episode_start": 0,
+      "episode_end": 7,
+      "task": "scooping powder reagent and transferring it into a receiving vessel",
+      "object": "powder reagent container, lab spoon, and receiving vessel",
+      "actions": [
+        "picking up",
+        "adjusting",
+        "scooping",
+        "placing spoon",
+        "pouring",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 8,
+      "episode_end": 11,
+      "task": "adding liquid with a dropper and shaking to mix",
+      "object": "dropper, reagent container, and sample tube",
+      "actions": [
+        "picking up",
+        "titrating",
+        "placing dropper",
+        "shaking to mix",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 12,
+      "episode_end": 19,
+      "task": "scooping powder reagent and transferring it into a receiving vessel",
+      "object": "powder reagent container, lab spoon, and receiving vessel",
+      "actions": [
+        "picking up",
+        "adjusting",
+        "scooping",
+        "placing spoon",
+        "pouring",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 20,
+      "episode_end": 23,
+      "task": "adding liquid with a dropper and shaking to mix",
+      "object": "dropper, reagent container, and sample tube",
+      "actions": [
+        "picking up",
+        "titrating",
+        "placing dropper",
+        "shaking to mix",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 24,
+      "episode_end": 35,
+      "task": "opening a reagent bottle, pouring reagent, closing the cap, and placing the bottle",
+      "object": "reagent bottle and cap",
+      "actions": [
+        "picking up",
+        "opening cap",
+        "pouring",
+        "closing cap",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 36,
+      "episode_end": 48,
+      "task": "adding liquid with a dropper and shaking to mix",
+      "object": "dropper, reagent container, and sample tube",
+      "actions": [
+        "picking up",
+        "titrating",
+        "placing dropper",
+        "shaking to mix",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 49,
+      "episode_end": 60,
+      "task": "opening a reagent bottle, pouring reagent, closing the cap, and placing the bottle",
+      "object": "reagent bottle and cap",
+      "actions": [
+        "picking up",
+        "opening cap",
+        "pouring",
+        "closing cap",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 61,
+      "episode_end": 87,
+      "task": "scooping powder reagent and transferring it into a receiving vessel",
+      "object": "powder reagent container, lab spoon, and receiving vessel",
+      "actions": [
+        "picking up",
+        "adjusting",
+        "scooping",
+        "placing spoon",
+        "pouring",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 88,
+      "episode_end": 91,
+      "task": "adding liquid with a dropper and shaking to mix",
+      "object": "dropper, reagent container, and sample tube",
+      "actions": [
+        "picking up",
+        "titrating",
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+        "shaking to mix",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 92,
+      "episode_end": 108,
+      "task": "assembling a flask and tube apparatus, pouring reagent, and disassembling the apparatus",
+      "object": "flask, tube, clamp, base, and reagent bottle",
+      "actions": [
+        "picking up",
+        "securing flask",
+        "assembling apparatus",
+        "inserting tube",
+        "pressing",
+        "pouring",
+        "removing tube",
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+        "releasing clamp",
+        "placing"
+      ]
+    },
+    {
+      "episode_start": 109,
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+      "task": "assembling a flask and funnel apparatus, pouring reagent, and disassembling the funnel",
+      "object": "flask, funnel, clamp, and reagent bottle",
+      "actions": [
+        "picking up flask",
+        "securing flask",
+        "picking up funnel",
+        "assembling funnel",
+        "picking up bottle",
+        "changing bottle grip",
+        "pouring",
+        "placing bottle",
+        "disassembling funnel",
+        "placing funnel",
+        "releasing clamp",
+        "placing flask"
+      ]
+    }
+  ],
+  "coverage": {
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+    "annotated_episode_count": 114,
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+    "missing_episode_ranges": "none",
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+    "raw_sparse_episode_indices": true
+  },
+  "legacy_source_extra_segment_dirs_ignored": [
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+    "rbt_ep000001_s000008",
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+    "removed_episode_count": 8,
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+    "criteria": [
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+  "revised_cleanup": {
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+    "rule": "Delete an entire raw episode only when no valid annotated segment remains. Delete explicit invalid/QR-out-of-view segments at segment level only.",
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+    "previous_quarantine_dir": "E:\\huggingface_data_removed_20260528_140418",
+    "new_quarantine_dir_for_revised_removals": "E:\\huggingface_data_removed_revised_20260528_164310"
+  }
+}

huggingface_data/huggingface_data/0515_pharmaceutical_reagent_handling/raw/lerobot/515_chemistry/meta/info.json

@@ -0,0 +1,193 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": null,
+  "total_episodes": 121,
+  "total_frames": 129038,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 200,
+  "fps": 30,
+  "splits": {
+    "train": "0:62,63:122"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.images.ego": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.side": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.tactile_left": {
+      "dtype": "float32",
+      "shape": [
+        256
+      ],
+      "names": null
+    },
+    "observation.tactile_right": {
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+      "names": null
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+      "shape": [
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+      ],
+      "names": [
+        " hand.Bones.Head.Location[i]",
+        " hand.Bones.Head.Location[i]",
+        " hand.Bones.Head.Location[i]",
+        " hand.Bones.Head.Parent",
+        " hand.Bones.Head.Rotation[i]",
+        " hand.Bones.Head.Rotation[i]",
+        " hand.Bones.Head.Rotation[i]",
+        " hand.Bones.Head.Scale[i]",
+        " hand.Bones.Head.Scale[i]",
+        " hand.Bones.Head.Scale[i]",
+        " hand.Parameter.L_CalibrationStatus",
+        " hand.Parameter.l0",
+        " hand.Parameter.l1",
+        " hand.Parameter.l2",
+        " hand.Parameter.l3",
+        " hand.Parameter.l4",
+        " hand.Parameter.l5",
+        " hand.Parameter.l6",
+        " hand.Parameter.l7",
+        " hand.Parameter.l8",
+        " hand.Parameter.l9",
+        " hand.Parameter.l10",
+        " hand.Parameter.l11",
+        " hand.Parameter.l12",
+        " hand.Parameter.l13",
+        " hand.Parameter.l14",
+        " hand.Parameter.l15",
+        " hand.Parameter.l16",
+        " hand.Parameter.l17",
+        " hand.Parameter.l18",
+        " hand.Parameter.l19",
+        " hand.Parameter.l20",
+        " hand.Parameter.l21",
+        " hand.Parameter.l22",
+        " hand.Parameter.l23",
+        " hand.Parameter.l_joyX",
+        " hand.Parameter.l_joyY",
+        " hand.Parameter.l_aButton",
+        " hand.Parameter.l_bButton",
+        " hand.Parameter.l_joyButton",
+        " hand.Parameter.l_menu",
+        " hand.Parameter.R_CalibrationStatus",
+        " hand.Parameter.r0",
+        " hand.Parameter.r1",
+        " hand.Parameter.r2",
+        " hand.Parameter.r3",
+        " hand.Parameter.r4",
+        " hand.Parameter.r5",
+        " hand.Parameter.r6",
+        " hand.Parameter.r7",
+        " hand.Parameter.r8",
+        " hand.Parameter.r9",
+        " hand.Parameter.r10",
+        " hand.Parameter.r11",
+        " hand.Parameter.r12",
+        " hand.Parameter.r13",
+        " hand.Parameter.r14",
+        " hand.Parameter.r15",
+        " hand.Parameter.r16",
+        " hand.Parameter.r17",
+        " hand.Parameter.r18",
+        " hand.Parameter.r19",
+        " hand.Parameter.r20",
+        " hand.Parameter.r21",
+        " hand.Parameter.r22",
+        " hand.Parameter.r23",
+        " hand.Parameter.r_joyX",
+        " hand.Parameter.r_joyY",
+        " hand.Parameter.r_aButton",
+        " hand.Parameter.r_bButton",
+        " hand.Parameter.r_joyButton",
+        " hand.Parameter.r_menu"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
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+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
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+      "names": null
+    },
+    "task_index": {
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+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}

huggingface_data/huggingface_data/0515_pharmaceutical_reagent_handling/raw/lerobot/515_chemistry/meta/tactile_routing.txt

@@ -0,0 +1,10 @@
+# Tactile gloves dual-hand routing.
+# Protocol: header 4B + seq 1B + type 1B + data.
+#   type=0x01 -> LEFT, type=0x02 -> RIGHT.
+# Each port runs an independent reader; routing is determined at warmup
+# by the type byte of the first observed frame.
+# observation.tactile_left  : (256,) float32, raw pressure from type=0x01 glove
+# observation.tactile_right : (256,) float32, raw pressure from type=0x02 glove
+# Ports configured this run:
+#   /dev/tactile_left
+#   /dev/tactile_right

huggingface_data/huggingface_data/0515_pharmaceutical_reagent_handling/raw/lerobot/515_chemistry/meta/udexreal_schema.json

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+{
+  "host": "0.0.00",
+  "port": 5555,
+  "total_dim": 72,
+  "schema": [
+    {
+      "path": " hand.Bones.Head.Location",
+      "length": 3
+    },
+    {
+      "path": " hand.Bones.Head.Parent",
+      "length": 1
+    },
+    {
+      "path": " hand.Bones.Head.Rotation",
+      "length": 3
+    },
+    {
+      "path": " hand.Bones.Head.Scale",
+      "length": 3
+    },
+    {
+      "path": " hand.Parameter.L_CalibrationStatus",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l0",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l1",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l2",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l3",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l4",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l5",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l6",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l7",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l8",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l9",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l10",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l11",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l12",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l13",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l14",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l15",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l16",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l17",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l18",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l19",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l20",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l21",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l22",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l23",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l_joyX",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l_joyY",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l_aButton",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l_bButton",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l_joyButton",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.l_menu",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.R_CalibrationStatus",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r0",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r1",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r2",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r3",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r4",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r5",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r6",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r7",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r8",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r9",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r10",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r11",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r12",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r13",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r14",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r15",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r16",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r17",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r18",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r19",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r20",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r21",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r22",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r23",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r_joyX",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r_joyY",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r_aButton",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r_bButton",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r_joyButton",
+      "length": 1
+    },
+    {
+      "path": " hand.Parameter.r_menu",
+      "length": 1
+    }
+  ],
+  "note": "observation.udexreal 是按 schema 顺序串接的 float32 (D,) 向量. 缺 key / shape 不一致会填 NaN. 原始 JSON 见 sync_diagnostics/episode_*.parquet 的 udexreal_raw_json 列."
+}

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