adityx23/Pi-Atlas_Sanity_Check_Dataset_1080p

Pi Atlas sanity check, full resolution — YOR bimanual mobile robot (LeRobot v2.1)

Full-resolution version of adityx23/Pi-Atlas_Sanity_Check_Dataset: the same episodes in the same order with the same task labels (sanity_check_episode_index and group in meta/episodes.jsonl), plus ZED depth and the original native-rate parquets. These episodes predate ZED IMU recording, so observation.imu is all invalid.

23 episodes, 0.36 hours at 30 Hz, 1 task prompts, recorded 2026-10-26 to 2026-10-26. Selected successes only — successes (23), failures (0) and unlabelled (0) — for policy and critic training. Filter with the labels in meta/episodes.jsonl.

Per frame (30 Hz)

key	shape	notes
observation.images.zed_left / zed_right	1080×1920×3	ZED 2i head stereo, rectified
observation.images.left_gripper / right_gripper	720×1280×3	wrist cameras, not undistorted
observation.state	37	joints (rad), grippers (0 closed, 1 open), EE poses [qw qx qy qz x y z], lift (m), neck (deg), base velocity, view pitch
action	36	joint commands, gripper commands, EE targets, base velocity command, lift direction (−1/0/1), neck command
observation.imu	18	ZED IMU nearest sample: accel (m/s², with gravity), gyro (deg/s), orientation, magnetometer (µT), pressure (Pa), temperatures (°C)
annotation.*_valid		masks: a missing value is stored as 0 with a false mask — never train on it
auxiliary.state_21 / action_21	21 / 21	the earlier Pi Atlas sanity-check layout
source.*		original timestamps and frame indices of every match

Component names are in meta/info.json. Missing robot signals are NOT interpolated.

Beside the LeRobot files (not loaded by LeRobot)

• depth/: ZED left/right depth aligned to each lens, mm, 12-bit H.265 CRF 4 (lossy: median error ~1 mm), clipped at 4.095 m, plus lossless masks of where the original had depth. Decode with PyAV frame.to_ndarray() (no format=: the frames are gray12le and that returns uint16 mm 0..4095; format="gray16le" would rescale them ×16).
• native/: per episode, every original sample at its own rate — every Pi teleop frame with its raw JSON, every ~400 Hz ZED IMU sample (episodes from 2026-10-28 15:47 on), and each camera's original frame timestamps.

Labels (meta/episodes.jsonl)

success (operator), verdict (manual review, where one exists), short_success, lap_complete and cycle fields (cycle, subtask_index, cycle_lap, ...), duration_s, warnings, and the source episode.

Tasks

task	episodes
Place the Red Chili on the Plate using the right arm	23