strict640x480-v2/code/README_5task_rgbd_hf.md

metadata

license: other
tags:
  - robotics
  - imitation-learning
  - decentralized-control
  - rgb-d

RoboFactory Five-Task Decentralized Wrist RGB-D

Public, versioned research corpus for reproducible shared-policy experiments.

Contract

• strict640x480-v2 contains 500 successful synchronized demonstrations: 100 each of LiftBarrier (2 robots), CameraAlignment (3), ThreeRobotsStackCube (3), LongPipelineDelivery (4), and TakePhoto (4).
• A policy stream contains only one panda_hand wrist RGB-D observation and that robot's qpos.
• RGB is native 640×480; depth is native metric depth stored in millimetres. Both encoders are audited to the aligned 30×40 patch grid (1200 tokens); historical 320×240 artifacts are deliberately excluded.
• No task ID, agent ID, peer/global/right-camera image, language, or communication is a policy input.
• HDF5 convention: action has T records, while RGB/depth/qpos have T+1 records. The final observation is the post-action state.

Reproducible training protocol

All methods use the exact same corpus, held-out episode split, action chunk 100, ACT posterior encoder 4 layers and decoder 7 layers. Mixed-task sampling is hierarchical: equal probability for task, then demonstration, local arm, and time index. The sampling label is never supplied to the policy.

The companion experiment uses frozen unseen 100-seed manifests per task and publishes model configurations, normalization statistics, SHA-256 audits, and results separately from this data repository. Each task is uploaded in its own Hub commit only after strict_audit.json reports PASS_STRICT640X480_V2.