# Humanoid LeRobot v2.1 episode samples

This folder contains **40 complete episodes**: five representative samples from each of eight logical data sources under `/mnt/data/dataset/PretrainData_v21/Humanoid`.

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`.

## Additional Unitree WBT sample set

`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.

## Summary

| 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.