NeoteAI/OpenNeoData-OXT

OpenNeoData OXT Pilot

Hosting destination: https://huggingface.co/datasets/NeoteAI/OpenNeoData-OXT. publication_target.json records the contributor's updated hosting choice. The sealed pre-publication package manifest and older drafts retain the earlier planned organization namespace as historical evidence.

Seven complete published episodes, 4,967 frames, prepared for Open-X-Tactile organizer review. Technical qualification does not constitute OXT acceptance. OXT acceptance is not confirmed.

Updated dual-UMI visualization

The approved v5 4D preview improves the fixed virtual observer angle and corrects only the left visualization glyph: R_display = R_source @ diag(-1,-1,1), a 180° rotation about local Z before the official scene parent rotation. The right glyph is unchanged.

Recorded poses for both UMI devices already share the correct world coordinate system and remain unchanged. All seven dataset archives, images, tactile data and dataset manifests are unchanged. Do not apply this visualization adjustment to the recorded pose data.

The preview covers episode 67419, frames 1280–1379, exactly 100 frames at 30 fps, with synchronized wrist and tactile panels. This is a virtual observer position; no recorded head-camera view exists. The labelled camera frustum is illustrative. Download submission/umi/ and open interactive_preview.html locally for interactive playback. Publication provenance includes the camera, correction scope, checks and unchanged archive hashes.

Access: downloads remain gated. Sign in to Hugging Face and accept/request access on the dataset page. Earlier anonymous-download certificates below describe the original data verification before gating; the new visualization assets are verified using the existing authorized account.

Contents

• UR: episode 16747, pull cups.
• Dual-arm ARX5: episode 2345, carlights pick and insert.
• Single-arm ARX5: episode 436, clip chips.
• ALOHA: episode 11118, test tube cleaning and collection.
• Flexiv: episode 5059, insert board.
• Dual-hand UMI: episode 67419, stack the trays.
• Single-hand UMI: episode 7350, cover the cup with the lid.

The seven ZIPs each contain one self-contained task Zarr. Extract all ZIPs into the same destination to obtain OpenNeoData-OXT/<embodiment>/<task>.zarr. No source video paths or external image references are needed to read the Zarr.

submission/ is the organizer-facing folder with prepared hosting metadata, illustrations, cover video, UMI previews and the handoff text for the contributor to send. Publication and fresh anonymous-download checks have passed.

organizer/ preserves the sealed pre-publication evidence snapshot, including earlier draft metadata and status. It contains official QC outputs, documented warning dispositions, source/coordinate provenance, sensor and slot illustrations, a cover video, and labelled UMI Viser previews. The Viser previews show meaningful partial motion intervals; the complete review videos and numerical checks cover the full selected episodes. Rejected episode data are excluded.

Source and conversion

Source: NeoteAIEmbodied/OpenNeoData, revision e9c6eb33c6c2971c39edbbbcc135365b90d0dd22.

The conversion preserves decoded native-resolution image pixels in Zarr format 2 with Blosc-Zstd level 5 and frame-sized chunks. RGB uses (T,H,W,3) and paired tactile images use (T,2,H,W,3), both uint8. This preservation does not undo the source videos' existing lossy compression. Complete published episodes are retained without new trimming, interpolation or recording repairs.

Measured state, timestamps, episode boundaries and instructions are retained. Column-based source rot6d is converted to rotvec where wrist poses are exported. UMI shared-frame trajectories follow the matched and reproduced original curation chain; no UMI arm joints are invented. Fixed dual-arm wrist poses are omitted where inter-base calibration is unavailable. Gripper opening uses slot 28; InTacS1 pad areas 0/1 mean the source's left/right tactile stream within each gripper. FTP-1 derives training actions from state trajectories.

Quality evidence and limitations

The unchanged official metadata checker passes. The actual pinned FTP-1 loader passes random-frame and episode-boundary checks. Native decoded-pixel equality, frame alignment, state validity and episode-specific task completeness are checked. Original VLM warnings and scores are preserved alongside documented local reviews and contributor acceptances; this is not a claim that every raw VLM page scored pass. Subtle tactile variation is retained. Visual approval does not establish calibrated force, physical capture-clock accuracy or quantitative hardware latency.

All local ZIP extractions have the expected complete dataset hashes and pass the actual FTP-1 loader. local_archive_verification.json explicitly records that this is local verification. The separate release_verification.json and certification/ record successful fresh anonymous downloads, full extraction hashes and actual FTP-1 loading for all seven archives at commit 2c1f1a63efc5613947dfbe57005d252d1b8c3f60. The final official metadata checker reports overall PASS. The pilot is ready for organizer submission; OXT acceptance remains unconfirmed.

package_manifest.json binds the selection and archive SHA256 hashes. After download, run sha256sum -c SHA256SUMS from this directory to verify the listed files. See organizer/readiness.json and the included reports for scope.

Official tools: OXT-QC at cadbf5e7d1cfcec861a6d58779fc6d6e057f3126, and FTP-1 at 89fa681d6c014cce28300946b7526db808e0b1c1.

License and contact

Dataset: CC BY-NC-SA 4.0. Attribution: NeoteAI / OpenNeoData. Conversion changes are described above and in ATTRIBUTION.txt; upstream tools retain their respective licenses.

Contributor contacts (expandable): yangtianqwer@gmail.com.