| { |
| "schema_version": 1, |
| "status": "complete", |
| "dataset_repo": "OneWorld-AI/RoboMIND2.0-processed", |
| "audited_revision": "72877243ff25e5f484ea216a1d684b65d1c0d7d0", |
| "audit_completed_at": "2026-10-23T23:18:05.704283+00:00", |
| "episodes": 134537, |
| "frames": 42559113, |
| "camera_frames": 127677339, |
| "coverage": { |
| "numeric": { |
| "expected_episodes": 134537, |
| "checked_episodes": 134537, |
| "missing_episodes": 0 |
| }, |
| "video": { |
| "expected_episodes": 134537, |
| "checked_episodes": 134537, |
| "missing_episodes": 0 |
| }, |
| "eef_temporal": { |
| "expected_episodes": 134537, |
| "checked_episodes": 134537, |
| "missing_episodes": 0 |
| } |
| }, |
| "audit_execution_errors": 0, |
| "episodes_removed": 0, |
| "data_payload_modified": false, |
| "unique_flagged_episodes": 35070, |
| "unique_review_episodes": 59839, |
| "flagged_episode_hours": 225.00808369278676, |
| "flag_counts": { |
| "command_spikes": 21259, |
| "state_spikes": 20898, |
| "tracking_below_70_percent": 15214, |
| "eef_state_position_isolated_spike": 200, |
| "eef_state_rotation_isolated_spike": 222, |
| "state_glitch": 332, |
| "command_glitch": 110, |
| "duplicate_recorded_payload": 57, |
| "video_stall_over_20_percent": 13, |
| "eef_command_position_isolated_spike": 10, |
| "eef_command_rotation_isolated_spike": 3, |
| "black_frames": 9, |
| "reversed_lag": 2, |
| "idle_end_trim_over_70_percent": 1 |
| }, |
| "review_counts": { |
| "native_pose_fk_rotation_disagreement": 38743, |
| "native_pose_fk_position_disagreement": 23539, |
| "workspace_outlier": 985 |
| }, |
| "by_robot": { |
| "AgileX": { |
| "episodes": 21111, |
| "unique_threshold_failures": 20294, |
| "failure_counts": { |
| "command_spikes": 20227, |
| "state_spikes": 19892, |
| "tracking_below_70_percent": 818, |
| "eef_state_position_isolated_spike": 195, |
| "eef_state_rotation_isolated_spike": 220, |
| "state_glitch": 323, |
| "command_glitch": 102, |
| "duplicate_recorded_payload": 56, |
| "eef_command_position_isolated_spike": 6, |
| "eef_command_rotation_isolated_spike": 1, |
| "black_frames": 8, |
| "video_stall_over_20_percent": 11 |
| } |
| }, |
| "Franka": { |
| "episodes": 66685, |
| "unique_threshold_failures": 14747, |
| "failure_counts": { |
| "tracking_below_70_percent": 14374, |
| "command_spikes": 1032, |
| "state_spikes": 1006, |
| "command_glitch": 5, |
| "eef_command_position_isolated_spike": 4, |
| "eef_state_position_isolated_spike": 4, |
| "state_glitch": 7, |
| "reversed_lag": 2, |
| "eef_command_rotation_isolated_spike": 2, |
| "eef_state_rotation_isolated_spike": 2, |
| "idle_end_trim_over_70_percent": 1 |
| } |
| }, |
| "UR5": { |
| "episodes": 46741, |
| "unique_threshold_failures": 29, |
| "failure_counts": { |
| "video_stall_over_20_percent": 2, |
| "tracking_below_70_percent": 22, |
| "duplicate_recorded_payload": 1, |
| "command_glitch": 3, |
| "state_glitch": 2, |
| "eef_state_position_isolated_spike": 1, |
| "black_frames": 1 |
| } |
| } |
| }, |
| "eef_spike_candidates": { |
| "state": 232, |
| "command": 10, |
| "either": 232 |
| }, |
| "duplicates": { |
| "groups": 48, |
| "additional_episode_candidates": 57, |
| "cross_split_groups": 11 |
| }, |
| "applicability_by_robot": { |
| "UR5": { |
| "tracking:scored": 46741, |
| "native_fk_arm:compared_native_source": 93482 |
| }, |
| "AgileX": { |
| "tracking:scored": 20561, |
| "native_fk_arm:no_usable_native_ground_truth": 36222, |
| "tracking:not_independent_copied_commands": 550, |
| "native_fk_arm:invalid_native_pose_shape": 1100, |
| "native_fk_arm:compared_native_source": 4900 |
| }, |
| "Franka": { |
| "tracking:scored": 66684, |
| "native_fk_arm:compared_native_source": 133370, |
| "tracking:insufficient_command_motion": 1 |
| } |
| }, |
| "black_camera_frames": { |
| "UR5": 3, |
| "AgileX": 60, |
| "Franka": 0 |
| }, |
| "methods": [ |
| "audit/methods/joint_video.json", |
| "audit/methods/eef_temporal.json", |
| "audit/methods/workspace_bounds.json" |
| ], |
| "interpretation": "Threshold flags and review candidates, not an automatic exclusion list or task success/failure labels. Counts overlap. Broad acceleration/jerk flags are heuristic. Native-pose/FK disagreements are review-only. No data payloads were repaired or removed.", |
| "limitations": [ |
| "Not an exact reproduction of an unspecified S1/S2/S3 implementation.", |
| "Checks flag candidates for review; valid rare motion, stationary views and tasks can trigger them.", |
| "Audits retained processed frames; anomalies exclusively in source frames dropped during export are out of scope.", |
| "AgiBot has no independently verified FK model; physical calibration and image/pose reprojection are not certified." |
| ] |
| } |
|
|
