| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - lohrbench |
| - panda |
| - curobo |
| - manipulation |
| - long-horizon |
| --- |
| |
| # LongHorizon — LoHRbench CuRobo Demonstrations (joint-pose) |
|
|
| Success-only demonstration trajectories for **8 long-horizon manipulation tasks** from |
| [LoHRbench](https://github.com/) (ManiSkill3, Franka Panda), collected with the **CuRobo** |
| GPU motion planner. |
|
|
| Two representations of the **same** success trajectories are provided: |
|
|
| | Path | Format | Episodes | Notes | |
| |---|---|---|---| |
| | `data/`, `meta/` | **LeRobot v2** | 1,200 (capped 150/task) | training-ready (pi0 / LeRobot pipelines) | |
| | `hdf5_joint_pose/` | **ManiSkill HDF5** | 1,383 (all successes) | raw trajectories + filtered metadata JSON | |
|
|
| Both are joint-pose (8D `pd_joint_pos`) and success-only. The HDF5 set keeps every |
| successful episode (no 150/task cap), so a few tasks have more than the LeRobot set. |
|
|
| ## Contents |
|
|
| - **Episodes:** 1,200 (150 per task × 8 tasks), **all successful** |
| - **Frames:** 3,311,118 @ **20 fps** |
| - **Robot:** Franka Panda (`panda_wristcam`) |
| - **Planner:** CuRobo (GPU MotionGen) |
| - **Action space:** 8D `pd_joint_pos` — 7 arm joint targets + 1 gripper command (absolute) |
|
|
| ### Features (per frame) |
|
|
| | key | dtype | shape | source | |
| |---|---|---|---| |
| | `image` | image | (128, 128, 3) | base camera RGB | |
| | `wrist_image` | image | (128, 128, 3) | hand/wrist camera RGB | |
| | `state` | float32 | (9,) | robot qpos (7 arm + 2 finger) | |
| | `actions` | float32 | (8,) | `pd_joint_pos` target (7 arm + gripper) | |
|
|
| ## Tasks and language instructions |
|
|
| | task | category | instruction | |
| |---|---|---| |
| | `stack_10_cube` | super_long_horizon | Stack 10 cubes together, start with red cube | |
| | `reverse_stack` | super_long_horizon | Reverse 10 stacked cubes in reverse order | |
| | `stack_active_exploration` | active_exploration | Open the drawer, pick up the cubes, and stack them together starting with the red cube | |
| | `pick_active_exploration` | active_exploration | Pick up the can, screwdriver, and cup out of the drawer | |
| | `fruit_placement` | tool_using | Place four strawberries into the target positions | |
| | `repackage` | tool_using | Put the cube into the bowl and stack the bowl on the plate | |
| | `cluttered_packing` | clutter | Put three cubes into the bowl | |
| | `stack_cube_clutter` | clutter | Stack 3 cubes together, start with red cube | |
|
|
| The per-frame language instruction is stored in the LeRobot `task` field. |
|
|
| ### HDF5 success counts (`hdf5_joint_pose/`) |
|
|
| | task | success episodes | |
| |---|---| |
| | stack_10_cube | 150 | |
| | reverse_stack | 172 | |
| | stack_active_exploration | 300 | |
| | pick_active_exploration | 150 | |
| | fruit_placement | 150 | |
| | repackage | 150 | |
| | cluttered_packing | 161 | |
| | stack_cube_clutter | 150 | |
| | **total** | **1,383** | |
| |
| Each `<name>_success.h5` holds only the successful `traj_*` groups; the sibling |
| `<name>_success.json` is the ManiSkill trajectory metadata trimmed to those episodes. |
| Episode success is taken from the reconciled per-episode label (`episodes[].success`), |
| not the unreliable per-step flag. HDF5 schema: `obs/agent/qpos` (T,9), |
| `obs/sensor_data/{base,hand}_camera/rgb` (T,128,128,3), `actions` (T-1,8). |
|
|
| ## Notes |
|
|
| - Only **successful** episodes are included (per-episode success labels reconciled from the |
| ManiSkill collection metadata; the per-step success flag is not used). |
| - Actions are **absolute** joint targets. For pi0/pi0.5-style training, convert the 7 arm |
| joints to deltas relative to the current state and keep the gripper absolute. |
| - This release contains the **joint-pose (`pd_joint_pos`)** representation only (both LeRobot |
| and HDF5). A delta-EE (`pd_ee_delta_pose`) variant is not included here. |
|
|
