| --- |
| 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**. |
|
|
