Lifted dataset smoke-test report

Date: 2026-09-21. Branch: chaoyi/new_dataset.

Success-only upload/download/render: 16/16 passed.

Dataset: https://huggingface.co/datasets/retarget/retarget_full

Verified data revision: 081bb1bd5825c07e7af7645e6663a9824ed6df28. All 408 checksummed files matched after a clean download; all 16 fresh videos are byte-identical to their published previews. The public verification report records rendering and Viser inspection of the downloaded data.

Verification evidence

• Converted four source clips into the current retarget_example directory layout, with one saved rollout for each of four robot hands (16 combinations).
• 408 hashed files, 109,581,007 bytes before the checksum index (about 104.5 MiB).
• Every scene resolves its mesh dependencies within the converted dataset.
• All runs passed current process_config() and load_data(), shape/time-grid/finite checks, and comparison of recomputed metrics to the source receipts.
• All 16 fresh videos used local setup_renderer() / render_image() with EGL.
• All 16 trials were loaded and scrubbed in a real Chromium browser using Viser; no browser JavaScript errors. Playback, trial switching, and visibility toggles passed.
• Three regression tests passed: GLB node scale/ground alignment, preservation of hand/object offsets during synthetic lift, and success-only upload filtering. New Python files pass Ruff; the existing Viser module retains its 37 pre-existing lint findings with no new findings.

Per-example results

Dataset	Robot	Frames	Lift (m)	Final error (m)	Load / render / Viser
dexycb_lifted	allegro	175	0.3362	0.0072	Pass
dexycb_lifted	xhand	175	0.3333	0.0038	Pass
dexycb_lifted	inspire	175	0.3321	0.0026	Pass
dexycb_lifted	sharpa	175	0.3332	0.0072	Pass
hrdexdb_24f	allegro	175	0.2811	0.0167	Pass
hrdexdb_24f	xhand	175	0.2835	0.0199	Pass
hrdexdb_24f	inspire	175	0.2819	0.0178	Pass
hrdexdb_24f	sharpa	175	0.2709	0.0081	Pass
oakink_lifted	allegro	150	0.2506	0.0058	Pass
oakink_lifted	xhand	150	0.2542	0.0091	Pass
oakink_lifted	inspire	150	0.2491	0.0044	Pass
oakink_lifted	sharpa	150	0.2359	0.0034	Pass
hot3d_v2	allegro	225	0.2437	0.0101	Pass
hot3d_v2	xhand	225	0.2553	0.0169	Pass
hot3d_v2	inspire	225	0.2580	0.0185	Pass
hot3d_v2	sharpa	225	0.2560	0.0206	Pass

Inspect locally

• Gallery: http://localhost:8082 while the local gallery server is running.
• Viser: http://localhost:8080 while the inspector is running.
• Gallery files: example_video_data/retarget_full_roundtrip/after_download/index.html.
• Verification data: example_video_data/retarget_full_roundtrip/after_download/verification.json.
• Browser snapshots: example_video_data/retarget_full_roundtrip/viser/.
• Downloaded data: example_datasets/retarget_full_download/.

These artifacts are local, Git-ignored outputs; use the guide to reproduce them.

Limits

The samples were chosen for successful outcomes, not representative success rates. The conversion preserves recorded robot NPZ files and reconstructs missing object collision meshes. This validates saved-state playback and current-loader compatibility, not original collision-mesh equivalence or control-replay dynamics. Only successful scored trajectories were uploaded; failed and weak-reference runs are excluded.