--- 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. - **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**.