Initial TREAD R3 real RGB-D state ETV dataset

Public preprocessed release: frames, robot state, commands, labels, split protocols, and portable loader.

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/DATASET_MANIFEST.jsonl filter=lfs diff=lfs merge=lfs -text

PUBLIC_METADATA_SHA256SUMS

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+fec7a0fcccef7be72cefc6536942f99ee2828a376f2e2cdae0bdee87ee77c45a  README.md
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+338feb6af072da76c410a99e12ef4ea58c86f525a75518f870e9f49891bc8420  portable_loader.py
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+d665a3a24a3c45cf2b63b76bbd0f134485e4f7e2ce73b53692b28cabdcc0c22c  protocols/TRAIN.jsonl
+0cbda7a78e99bdc258a039a10d2ea13a7049c90b5b0baa0f1dd179f8eda859e6  protocols/TRAIN_WEIGHTS.jsonl
+68c115ba52eadf66957436b2f8bddf113166574456ded70828f60e0743bac59f  protocols/VALIDATION.jsonl
+6eaa150dc5a46eaf04eb4f60eeb0217bc21f1dbebc6320182b7f9140721b80da  protocols/VALIDATION_WEIGHTS.jsonl

README.md

@@ -0,0 +1,56 @@
+---
+language:
+- en
+license: other
+task_categories:
+- robotics
+tags:
+- robotics
+- rgbd
+- quadruped
+- terrain
+- physical-risk
+size_categories:
+- 1K<n<10K
+---
+
+# TREAD R3 Real RGB-D / State / ETV Dataset
+
+Public preprocessed release of the TREAD R3 real-robot data contract.
+
+This release contains RGB-D frame NPZ files, observation geometry, measured
+robot state, candidate command, event references, E/T/V targets, validity masks,
+timestamps, quality metadata, and train/validation protocol files. Raw videos,
+MCAP recordings, private source paths, and workstation host information are not
+included.
+
+## Scope
+
+- Primary physical-patch split: 12,106 train views / 3,558 validation views.
+- Observation history: RGB-D at t, t-0.2 s, and t-0.4 s.
+- State order: `[vx_mps, vy_mps, yaw_rate_rps, roll_rad, pitch_rad]`.
+- Command order: `[vx_cmd_mps, vy_cmd_mps, yaw_rate_cmd_rps]`.
+- Labels are original 0.25 s effort, tracking-error, and vibration events.
+- Frame and observation SHA-256 values are retained in the manifests.
+
+The dataset is intended for research and reproducibility. It is not a safety
+certification dataset, a production approval, or evidence that H2/H3 planner
+validation and physical calibration certification are complete. The split audit
+documents the remaining calibration and incident-review limitations.
+
+No specific open-source license is granted by this card. Contact the maintainers
+before redistribution or commercial use.
+
+## Layout
+
+```text
+data/episodes/       frame and observation NPZ files
+data/DATASET_MANIFEST.jsonl
+protocols/TRAIN.jsonl
+protocols/VALIDATION.jsonl
+protocols/STATS.json
+protocols/*_WEIGHTS.jsonl
+portable_loader.py
+```
+
+See `portable_loader.py` for the reference file layout and SHA verification.

SNAPSHOT.json

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+{
+  "created_at": "2026-09-13T14:24:55.660918+09:00",
+  "source_host": "NeuronS1",
+  "destination_host": "irasc4090-2",
+  "destination": "public_hf_dataset_package",
+  "protocol": "r3_recovered_within_site_patch_20260913",
+  "train_views": 12106,
+  "validation_views": 3558,
+  "total_views": 15664,
+  "episodes": 536,
+  "leakage_cluster_overlap": 0,
+  "raw_recordings_included": false,
+  "ood_only_views_included": false,
+  "contract": "SEH-90"
+}

SPLIT_AUDIT.json

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+{
+  "checked_at": "2026-09-13T04:43:33.343400+09:00",
+  "status": "recovery_complete_with_documented_unresolved_cases",
+  "baseline_views": 13451,
+  "added_views": 2686,
+  "views": 16137,
+  "records_with_views": 547,
+  "newly_represented_recordings": 134,
+  "unique_events": 12379,
+  "added_unique_events": 2108,
+  "processed_recovery_records": 740,
+  "records_with_new_views": 320,
+  "by_terrain": {
+    "forest": {
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+      "all_views": 4855
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+    "grass": {
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+    "gravel": {
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+    "mud": {
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+  "unlocated_ood_only_views": 473,
+  "incident_reviewed": 9,
+  "incident_unresolved": 1,
+  "remaining_unrecovered_not_deleted": true,
+  "within_site_split_basis": "operator confirmed nonoverlap; no invented surveyed buffer distance",
+  "label_definition": "original 0.25 second ETV events",
+  "observation_stride_s": 0.2,
+  "calibration_uncertainty_deg": 2,
+  "calibration_thresholds_scientifically_certified": false,
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+    }
+  },
+  "overlap": {
+    "event": 0,
+    "episode": 0,
+    "frame": 0,
+    "patch": 0
+  },
+  "new_calibration_donors_cross_split": 0
+}

VOLUME.json

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VOLUME_REPORT.md

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+# 현재 학습 데이터 용량 실측
+
+2026-09-13 KST. 현재 training manifests가 참조하는 NPZ 파일의 logical bytes를 합산. 동일 프레임은 한 번만 계산. GB는 10^9 bytes.
+
+| 범위 | 관측 수 | 녹화 수 | 고유 RGB-D 프레임 | 용량 GB |
+|---|---:|---:|---:|---:|
+| 기본 patch split — Train | 12,106 | 434 | 14,460 | 4.588 |
+| 기본 patch split — Validation | 3,558 | 102 | 3,993 | 1.260 |
+| 기본 patch split — 합계 | 15,664 | 536 | 18,453 | 5.848 |
+| 장소별 검증 포함 전체 자료 | 16,137 | 547 | 19,046 | 6.033 |
+
+전체 입력 cache 구성: RGB/원본 depth를 함께 보관한 frame NPZ 5.809GB + observation geometry/state/command/target/mask 등 view NPZ 0.224GB = 6.033GB. 현재 loader는 frame NPZ 중 RGB를 읽고, metric-depth 정보는 view NPZ의 geometry/patch_cells를 사용한다. 이 용량은 압축 저장 파일 크기이며 GPU 메모리 크기나 누적 epoch I/O가 아니다.
+
+6개 split protocol의 manifest/가중치/통계 등 메타데이터는 별도 0.953GB. 이를 포함한 참조 데이터+protocol 저장 범위는 6.986GB. 모델 checkpoint, 보고서, 원본, 탈락 후보 cache는 미포함.
+
+현재 전체 자료에 기여한 547개 녹화의 원본 폴더 파일 합계는 466.217GB. 원본 영상 전체를 매 epoch 읽는 방식이 아니며 선택한 관측/사건만 학습한다. 이 값은 누적 모든 녹화의 원본 용량이 아니다.
+
+전체 16,137 views 중 473 views는 현재 physical-patch protocol에 포함하지 않으며, 장소별 protocol에서만 사용한다. 기본 split의 train/validation 공유 frame 파일 0개. 여러 모델과 fold는 같은 파일을 공유하므로 용량을 다시 더하지 않는다.
+
+근거: VOLUME.json, REFERENCED_FILES.json, 현재 protocols/*/{TRAIN,VALIDATION}.jsonl.

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