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license: cc-by-4.0
task_categories:
- robotics
tags:
- LeRobot
- dynamic-robot-bench
- conveyor
- scripted-expert
---
# dynamic_robot_bench_dr_scripted_10k
**10,000 scripted-expert demonstrations across all 100 dynamic task families of
dynamic-robot-bench** — a conveyor-belt dynamic-manipulation benchmark (Franka
Panda + wrist camera, ManiSkill 3 / SAPIEN GPU sim). One LeRobot v2.1 dataset:
100 episodes per family, success-filtered, language-prompted per episode.
## Collection configuration (identical for every family)
- Scripted expert with per-step auto-derived speed caps, recorded as
joint-position actions in the `droid_panda` schema (3 RGB views: 2 exterior +
wrist, 224×224, 20 fps).
- Full domain randomization per episode: belt speed uniform **0.10–0.50 m/s,
stratified over 5 equal-width bins (20 episodes per bin per family)**, belt
direction, task-specific spatial/physical knobs (object yaw, lateral offsets,
spring stiffness, ...), expert velocity SDE, and scene-background DR
(workspace texture, lighting, camera jitter, clutter) resampled every 20
episodes. Families with an object catalog resample object identity as well.
- Success-filtered: only episodes whose task-specific success predicate holds at
termination are kept. Every family's expert passes >=0.90 success under this
full randomization (verified per family at multiple seeds before collection).
## Layout
- `data/chunk-XXX/episode_NNNNNN.parquet` — one file per episode, images inline.
- `meta/episodes.jsonl` / `meta/episodes_stats.jsonl` / `meta/tasks.jsonl` /
`meta/info.json` — standard LeRobot v2.1 metadata.
- `ranges.json` — maps each of the 100 gym task ids to its contiguous episode
range (episodes are ordered by family, alphabetical by gym id).
## Asset attribution
Rendered scenes may include third-party 3D assets:
- **Google Scanned Objects** (CC-BY 4.0) — Google LLC.
<https://app.gazebosim.org/GoogleResearch/fuel/collections/Scanned%20Objects%20by%20Google%20Research>
- **YCB Object and Model Set** (CC-BY 4.0) — Calli et al.
- Procedural primitive assets generated by the benchmark itself.
This dataset is released under **CC-BY 4.0**.
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