| # Humanoid LeRobot v2.1 episode samples |
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| This folder contains **40 complete episodes**: five representative samples from each of eight logical data sources under `/mnt/data/dataset/PretrainData_v21/Humanoid`. |
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| The parquet, video, depth and ancillary payloads are byte-for-byte copies of the source files. This is an inspection/interoperability bundle, not a re-indexed drop-in LeRobot dataset: original episode indices are retained in `sample.json` and `manifest.json`. |
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| ## Additional Unitree WBT sample set |
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| `unitreerobotics_wbt_10samples/` adds 10 complete episodes from 10 distinct WBT leaf datasets. It covers BrainCo, Dex1, Inspire regular four-view data and all three MainCamOnly two-view variants. This add-on has its own manifest and checksums and is not included in the 40-episode core summary below. |
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| ## Summary |
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|
| | Source | Robot type | Samples | Frames | Duration (min) | State dim | Action dim | Video files/sample | |
| |---|---:|---:|---:|---:|---:|---:|---:| |
| | AgibotWorld2026 | g2a | 5 | 5,353 | 2.97 | 162, 169, 183, 193 | 40, 44 | 6, 7 | |
| | AgiBot-World-Beta-no-torso-movement_v21 | a2d | 5 | 3,544 | 1.97 | 55 | 36 | 3 | |
| | HIW-500-LeRobot-v2 | unitree_g1 | 5 | 3,494 | 1.94 | 29 | 23 | 3 | |
| | humanoid-everyday_v21_g1 | g1 | 5 | 1,949 | 1.08 | 69 | 28 | 1 | |
| | humanoid-everyday_v21_h1 | h1 | 5 | 1,957 | 1.09 | 65 | 26 | 1 | |
| | icra_wbc_v21 | unitree_g2 | 5 | 7,710 | 4.28 | 31 | 44 | 6 | |
| | RealSourceData/RealSource-World | RS-02 | 5 | 9,553 | 5.31 | 71 | 17 | 3 | |
| | unitreerobotics_v21 | unitree_g1 | 5 | 3,373 | 1.87 | 50, 60, 83 | 50, 60, 97 | 2, 4 | |
| |
| ## Layout |
| |
| ```text |
| humanoid_v21_samples/ |
| ├── manifest.json # full bundle manifest |
| ├── manifest.jsonl # one compact record per episode |
| ├── PAYLOAD_CHECKSUMS.sha256 |
| └── <dataset>/sample_XX/ |
| ├── sample.json # task, dimensions, provenance and per-file hashes |
| ├── data.parquet # original episode parquet |
| ├── videos/ # registered RGB/depth video streams |
| ├── sidecars/ # ancillary parquet or unregistered/overlay depth |
| └── source_meta/ # original schema and available source metadata |
| ``` |
| |
| ## Selection and edge cases |
| |
| - Samples favor complete 10–60 second episodes and task/schema diversity; one RealSource long-horizon episode is intentionally included. |
| - `icra_wbc/sample_*` retains `head_depth` under `sidecars/` because that stream exists physically but is absent from `info.json` features. |
| - `agibotworld2026/sample_04` combines the simulation `lite` RGB/parquet payload with its `lite_depth_patch` overlay. |
| - `humanoid_everyday_g1` and `humanoid_everyday_h1` retain their per-episode ancillary parquet files. |
| - Unitree samples intentionally cover the 83/97, 60/60 and 50/50 schemas, including the two-view MainCamOnly variant. |
| - Known missing, shifted, duplicated or malformed source episodes identified during the audit were excluded. |
| |
| Use `manifest.json` as the authoritative mapping from every uploaded file to its original path. Verify payload integrity with `sha256sum -c PAYLOAD_CHECKSUMS.sha256` from this directory. |
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