---
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.