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Damin3927
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dynamic_robot_bench_dr_scripted_10k

Tasks:
Robotics
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parquet
Size:
100K - 1M
Tags:
LeRobot
dynamic-robot-bench
conveyor
scripted-expert
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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  1. .gitattributes +1 -0
  2. README.md +51 -0
  3. data/chunk-000/episode_000000.parquet +3 -0
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.gitattributes CHANGED
@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
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+ meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text
README.md ADDED
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+ ---
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+ license: cc-by-4.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - dynamic-robot-bench
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+ - conveyor
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+ - scripted-expert
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+ ---
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+
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+ # dynamic_robot_bench_dr_scripted_10k
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+
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+ **10,000 scripted-expert demonstrations across all 100 dynamic task families of
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+ dynamic-robot-bench** — a conveyor-belt dynamic-manipulation benchmark (Franka
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+ Panda + wrist camera, ManiSkill 3 / SAPIEN GPU sim). One LeRobot v2.1 dataset:
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+ 100 episodes per family, success-filtered, language-prompted per episode.
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+
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+ ## Collection configuration (identical for every family)
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+
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+ - Scripted expert with per-step auto-derived speed caps, recorded as
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+ joint-position actions in the `droid_panda` schema (3 RGB views: 2 exterior +
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+ wrist, 224×224, 20 fps).
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+ - Full domain randomization per episode: belt speed uniform **0.10–0.50 m/s,
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+ stratified over 5 equal-width bins (20 episodes per bin per family)**, belt
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+ direction, task-specific spatial/physical knobs (object yaw, lateral offsets,
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+ spring stiffness, ...), expert velocity SDE, and scene-background DR
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+ (workspace texture, lighting, camera jitter, clutter) resampled every 20
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+ episodes. Families with an object catalog resample object identity as well.
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+ - Success-filtered: only episodes whose task-specific success predicate holds at
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+ termination are kept. Every family's expert passes >=0.90 success under this
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+ full randomization (verified per family at multiple seeds before collection).
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+
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+ ## Layout
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+
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+ - `data/chunk-XXX/episode_NNNNNN.parquet` — one file per episode, images inline.
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+ - `meta/episodes.jsonl` / `meta/episodes_stats.jsonl` / `meta/tasks.jsonl` /
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+ `meta/info.json` — standard LeRobot v2.1 metadata.
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+ - `ranges.json` — maps each of the 100 gym task ids to its contiguous episode
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+ range (episodes are ordered by family, alphabetical by gym id).
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+
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+ ## Asset attribution
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+
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+ Rendered scenes may include third-party 3D assets:
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+
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+ - **Google Scanned Objects** (CC-BY 4.0) — Google LLC.
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+ <https://app.gazebosim.org/GoogleResearch/fuel/collections/Scanned%20Objects%20by%20Google%20Research>
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+ - **YCB Object and Model Set** (CC-BY 4.0) — Calli et al.
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+ - Procedural primitive assets generated by the benchmark itself.
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+
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+ This dataset is released under **CC-BY 4.0**.
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