| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robomme |
| - shell-game |
| --- |
| |
| # robomme_1cuben_fixedcup_split (VideoUnmaskSwap1CubeN — fixed cups, disjoint split) |
| |
| A single **red** cube is hidden under one of three cups; the cups are shuffled a variable |
| number of times (0..3) and the robot must pick the cup now hiding the cube. Prompt is |
| color-free: *"watch the video carefully, then pick up the container hiding the cube"*. |
| |
| Derived from [`robomme_1cuben_allcases`](https://huggingface.co/datasets/alfayoung/robomme_1cuben_allcases), |
| with two changes for a clean generalization study: |
| |
| **1. Fixed cup locations.** Cup-pose perturbation is removed (`no_cup_perturb`): the three |
| cups sit at their exact nominal lanes `(x=0, y ∈ {-0.25, 0, +0.25})` in every episode, so the |
| **only** variation across episodes is the discrete swap trajectory — the layout confound is |
| removed. |
| |
| **2. Train/test disjoint in state transitions.** The 120 unique discrete cases (3 hide |
| positions × every swap-pair sequence of length 0..3) are split **96 train / 24 test** by a |
| seeded shuffle (seed 0). Every swap-pair, sequence length, and hide position still appears in |
| training; only the specific full `(hide, swap-sequence)` combinations are held out — |
| a compositional-novelty split. Each kept case is drawn **3×** from recovery mode |
| {none, z, xy} (weights 0.7 / 0.15 / 0.15; ~30% contain a deliberate failed grasp + recovery). |
| |
| **This repo is the TRAIN split: 288 episodes (89119 frames).** The held-out **72-episode test |
| split** (the 24 disjoint cases) is listed in |
| `record_dataset_VideoUnmaskSwap1CubeN_test_metadata.json` and shipped in the RoboMME benchmark |
| (`env_metadata/test`, task index 17); it is re-simulated at eval time with the same fixed cups. |
|
|
| The three samples of a case share an **identical initial scene** but are three distinct |
| demonstrations — the oracle planner's path (and, when present, the recovery grasp) differ. |
|
|
| ## Format |
| Standard **LeRobot v2.1** layout (Franka Panda, 10 fps). **Action = 8-dim absolute joint |
| position** (`pd_joint_pos`: 7 arm joint angles in radians + 1 gripper open/close). `state` is |
| the matching 8-dim joint observation. Precomputed VAE latents are **not** included (they are |
| model-specific; regenerate with the RoboMME latent-precompute step). |
|
|
| ## Split metadata (at repo root) |
| - `record_dataset_VideoUnmaskSwap1CubeN_train_metadata.json` — the 288 train records |
| (`case`, `seed`, `hide_idx`, `swap_pairs`, `n_swaps`, `recovery_mode`, `no_cup_perturb`). |
| - `record_dataset_VideoUnmaskSwap1CubeN_test_metadata.json` — the 72 held-out test records. |
|
|
