| --- |
| pretty_name: PAARBench PushObj Training Data |
| tags: |
| - robotics |
| - world-models |
| - test-time-adaptation |
| --- |
| |
| # Optional training dataset |
|
|
| The PAARBench evaluation protocol does **not** require training trajectories. Its goal |
| segments are tracked under `data/pushobj_eval/`, and evaluation reads fixed |
| normalization metadata without opening the training dataset. |
|
|
| The training release is provided for researchers who want to reproduce base-model or |
| adapter training, or develop methods that explicitly use offline trajectories: |
|
|
| ```bash |
| .venv/bin/python scripts/download_data.py |
| ``` |
|
|
| The downloader fetches the immutable benchmark release from the |
| [`ThomasWalker1/paarbench-data`](https://huggingface.co/datasets/ThomasWalker1/paarbench-data) |
| dataset repository into `data/pushobj_multishape/` and verifies it against |
| `DATASET_MANIFEST.json`. |
|
|
| ## Contents |
|
|
| The release contains only the nonredundant splits used by the training pipeline: |
|
|
| | split | episodes | files | bytes | |
| |---|---:|---:|---:| |
| | `train` | 7,200 | 7,206 | 864,106,305 | |
| | `val` | 800 | 806 | 97,366,292 | |
|
|
| Each split contains `states.pth`, `velocities.pth`, `rel_actions.pth`, |
| `abs_actions.pth`, `seq_lengths.pkl`, `shapes.pkl`, and one MP4 observation stream per |
| episode under `obses/`. Redundant root-level copies and intermediate shards are not |
| part of the release. |
|
|
| The trajectories were generated in the PushObj simulator across the T, L, Z, and + |
| shapes. No license is asserted here beyond the rights of the repository owner; users |
| should review the dataset repository card and applicable upstream asset licenses |
| before redistribution. |
|
|
