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NERO raw teleoperation archives
Immutable recording batches are under archives/<archive_id>/.
Each batch contains raw/ (MCAP + episode metadata + capture-time source/config),
pipeline/ (processing/archiving source snapshot) and nero_archive_manifest.json
(file hashes and training eligibility). RGB cameras: external D435, left/right wrist D405.
Use only episodes with usable_for_training: true in that batch's manifest.
BAD and .trash episodes are retained for audit/recovery, not for training.
Check each episode's recording_rate_policy for stored sampling rates; 30 Hz aligned/LeRobot
data is generated offline. New RGB capture uses the official ROS2 compressed_image_transport
JPEG plugin (quality 90, original resolution and source timestamps). Historical compressed
copies include compression_verification.json; their non-image messages are unchanged.
JPEG is lossy; the outer MCAP zstd compression is lossless. Older archives may contain raw RGB.
There is no claim of hardware camera synchronization. This repository contains raw
archives and source snapshots, not a ready-made LeRobot dataset or a robot deployment.
Download a pinned archive with hf download REPO --type dataset --revision COMMIT --include 'archives/ARCHIVE_ID/**' --local-dir ./download (replace placeholders).
The installed pipeline also supports verified recovery with tools/collect.sh restore.
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