Datasets:
task string | coordinate_space string | point_names list | n_hist int64 | n_fut int64 | forecast_arm_count int64 | history list | anchor list | future_delta list | hw list | sample_id string | group_id string | split string | source_dataset string | license string | robot_body string | media_archive string | media_member string | media_sha256 string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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320
] | 2281da838fc1c0b83db3c822f23eeafe | 27f5875370453f426397cce72648521f | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 2281da838fc1c0b83db3c822f23eeafe.npz | 1ef9b14828be654ab1502c5853692fb9059576dd1e513d182034ca7e381d1748 |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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] | [
224,
320
] | c17e3fca24be0af55ffe03d08b71a913 | a32e69d49605e12fb434aacad01275ef | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | c17e3fca24be0af55ffe03d08b71a913.npz | 63ca2f2669349cd2daa2eeff472d4fb2656347f89e916787b0d2f95d27168400 |
adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
[
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] | [
224,
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] | 1083eb2978b160e48eb46dd06f55a11f | 5dd4c3a2b6de9e3f64dc8be1fdf8651c | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 1083eb2978b160e48eb46dd06f55a11f.npz | 25d5d48d14ed0063bc1791f052b7e6c690d244aa6f75ac7ecc4f16a763c772b0 |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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] | [
224,
320
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adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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] | [
224,
320
] | 0226eb5df56c9d1eed3090656004b619 | b167a9a8668d1b2f7575c317c2d603a7 | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 0226eb5df56c9d1eed3090656004b619.npz | ce05f8c1302dddb553376c230c52f8465542634e4e0029ba2ae2c2e283b5ac07 |
adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
[
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[
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[
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[
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[
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[
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[
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[
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] | [
224,
320
] | 4d6ea0b3a3395f9c5f5450901fba4a50 | a7313b26c2c137e809d90c73cba3404f | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 4d6ea0b3a3395f9c5f5450901fba4a50.npz | 810edac48cf1ac8516680896806a0bf1988e8d5c46e4795a5492cd49990492c2 |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
[
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[
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[
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] | [
224,
320
] | 98f445237ddae735974b81b100f0fd34 | fbaae1285038e2c261cd854236e5c1cc | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 98f445237ddae735974b81b100f0fd34.npz | 87a822e25b8f2cebb1d641ebc7fc52853c4634c430f7d51a9842ead09360bb6b |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
[
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] | [
224,
320
] | 6eb81f96b73655a4c161a6f969fd9025 | 9b75764937ff1fe2c16077ba698a9682 | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 6eb81f96b73655a4c161a6f969fd9025.npz | 6b1d8decc2f806ec12d20e0c393cf01b3ce97b26c79a907eafc0e74d5694014c |
adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
[
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[
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[
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[
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[
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[
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[
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] | [
224,
320
] | 6874b25d424b5475c3e7507923d8c5ac | 22e31a05888c3c40ae20c86883d0479d | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 6874b25d424b5475c3e7507923d8c5ac.npz | c7bdb0c99364b06671a87dea98750731b3e83a99cbb74dfc57b3fc23ef61718b |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
[
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[
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] | [
224,
320
] | 4cb4881ba8bc9fe164d8fc1f8848ba41 | 09335d035fa5ce9b0490780cccdbb73f | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 4cb4881ba8bc9fe164d8fc1f8848ba41.npz | 352d643a81a08c87c7445e0ed46cc21ea745309c2b4a030fa248f2656ec4386a |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
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[
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] | [
224,
320
] | 9c5bf45beadbfb7f6a008d62f0d35429 | 7bd837e691c5eecdc2ab4b79718811bb | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 9c5bf45beadbfb7f6a008d62f0d35429.npz | f7f315524ee7c9dac952b701b43ca298935767153d63f8827959fc43875d9b24 |
adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
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] | [
224,
320
] | d1e40fd908c802066e51a3656152f778 | 801a145b10291ec3462e27d122d26871 | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | d1e40fd908c802066e51a3656152f778.npz | d9e08f7c2f72f60be1b09b238e4c365ebffa8e2b9f222f6aedb5f89dc86e2710 |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
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[
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[
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[
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[
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[
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[
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] | [
224,
320
] | 6c68bac38ac76157db9c7232f865bf6a | b781fa3da71b758720331730af37d863 | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 6c68bac38ac76157db9c7232f865bf6a.npz | 0a8a309886d7db886e411caf3f800152f81fb9f76a5c089e49afa345c9f4b430 |
adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
[
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[
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[
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[
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[
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[
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[
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] | [
[
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[
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[
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[
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[
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[
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] | [
224,
320
] | 246948fa62075ddce63dd19563b46c6a | f12332585a6918b8cb9d820a037077fa | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 246948fa62075ddce63dd19563b46c6a.npz | 385acd3203e2e05ac8ce8c9c179a0a79d838b6336ca2315f8ea77f90726cdc9d |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
[
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[
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] | [
[
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] | [
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320
] | 7ea606b6856b2ec565afdc140661ca08 | 5705e6b705d58e2c6460171ecf223b24 | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 7ea606b6856b2ec565afdc140661ca08.npz | 61c3f82ace6e099b9a3dcb489992e3fcb1ff216ba946cb937f316e24959c1a17 |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
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[
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] | [
224,
320
] | 0e4802358aeb2fe9d08396bbefd6adb1 | b012c447e2d8e8f3ecc5a43cee3f012d | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 0e4802358aeb2fe9d08396bbefd6adb1.npz | b42ba2a6342231a3fa718d426cce96c30313f3b8a799338f77d14b8cf36e74cd |
adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
[
560,
587
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[
560,
589
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[
560,
589
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[
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[
561,
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[
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[
561,
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[
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]
] | [
[
557,
572
]
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[
[
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[
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[
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[
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[
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[
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[
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[
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] | [
224,
320
] | 1b9488850ce922872c8774849d6fb456 | e41b616a69fec07b62685959ec96301f | train | RoboTwin2.0 | mit | aloha | data/archives/train-00000.tar | 1b9488850ce922872c8774849d6fb456.npz | 5ae2c93be2cc679c060ac01860996319f27c0dc8df1d4a344580182247fba4c2 |
adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
[
614,
455
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[
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455
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[
614,
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[
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456
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[
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[
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[
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[
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]
] | [
[
615,
253
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[
[
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320
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adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
"right_eef_origin"
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adjust_bottle | normalized_1000_anchor_delta | [
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224,
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adjust_bottle | normalized_1000_anchor_delta | [
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adjust_bottle | normalized_1000_anchor_delta | [
"left_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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224,
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beat_block_hammer | normalized_1000_anchor_delta | [
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224,
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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224,
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
] | 8 | 8 | 1 | [
[
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320
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
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320
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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224,
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
] | 8 | 8 | 1 | [
[
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beat_block_hammer | normalized_1000_anchor_delta | [
"right_eef_origin"
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[
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] | [
224,
320
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beat_block_hammer | normalized_1000_anchor_delta | [
"left_eef_origin"
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[
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[
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[
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224,
320
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blocks_ranking | normalized_1000_anchor_delta | [
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blocks_ranking | normalized_1000_anchor_delta | [
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End of preview. Expand in Data Studio
Public simulation observations, EEF trajectories and teacher rationale drafts
17,421 prepared simulation records with actual eight-frame observations: 14,253 train / 3,168 heldout, from RoboTwin2.0 (five robot bodies) and DexMimicGen (bimanual simulation). This is a usable visual subset of a frozen research collection, not its complete 356.85GB original-media export and not a mirror of the complete upstream HDF5/asset datasets.
The 6,219 accompanying public teacher rationales include 3,465 machine-screened weak-supervision drafts and 2,754 held-for-review replies. Human-approved gold count is zero; faithfulness and robot-policy/paper accuracy are not verified. No model inference/training or new teacher API calls were performed here.
Contents and protocol
data/train.jsonl,data/heldout.jsonl: anonymous IDs, public task/body/source labels, split, coordinate arrays and tar/member references.data/archives/*.tar: NPZ observations, each withf0...f7containing the original prepared JPEG byte arrays. All frames are observed-history frames, not future footage or model predictions. No resizing/re-encoding.data/public_rationales.jsonl: only published rationale text, anonymous sample ID and explicit draft/review status; no raw API/account metadata.MEDIA_MANIFEST.jsonl,SHARDS.json,PUBLIC_RELEASE_MANIFEST.jsonandCHECKSUMS.sha256: per-member/per-frame/whole-file checksums.tools/: export, schema validation and a minimal CPU sample reader.
Coordinates are normalized-1000 image-grid XY. history and future_delta
are arm-first [forecast_arm_count][8][2]; anchor is the last observed XY.
Absolute future XY = anchor + future_delta. Each forecast arm has exactly one
fixed local EEF origin (left_eef_origin or right_eef_origin), not five
legacy body points. The source split and prepared projection protocol are
retained and are not asserted to be the official upstream benchmark split.
Source episode-group IDs are pseudonymized and remain separate across splits.
The published legacy SFT step900 / GRPO step250 model weights were not trained on this newer joint/fixed-EEF release. Reproducing those historical weights requires their original mix6 prompt/multi-point data protocol; do not silently substitute this data or claim new model results.
Download and read (no HF login required)
from huggingface_hub import snapshot_download
root = snapshot_download(
"diffusion-gif/trick-prediction-simulation-data", repo_type="dataset",
local_dir="./trick-prediction-simulation-data"
)
pip install -r requirements.txt
python tools/validate_release.py --root /your/downloaded/repository
python tools/load_sample.py --root /your/downloaded/repository --split train --index 0
# Optional observed-history GIF; never overwrites an existing output:
python tools/load_sample.py --root /your/downloaded/repository --index 0 --gif sample.gif
Use local_dir for a physical download folder rather than cache symlinks.
Known local HF download-cache metadata are ignored by the offline validator;
they are not part of the published payload. Dataset Viewer/load_dataset users
can select trajectories or public-rationales explicitly to avoid mixing the
two different JSON schemas.
Observed simulation examples (not predictions)
Six observed-history GIFs and their anonymous record references are listed in
previews/manifest.json. They show simulation observations, not real people,
real-world camera footage, ground-truth future videos or model predictions.
Privacy/release boundary
Source record/episode identifiers, original filenames, absolute machine paths, source timestamps, raw caption/instruction fields, credentials, HMAC key/ID mapping, account/API response IDs/usage/cost metadata, audio, logs and model weights are excluded. Every frame was decoded and checked for EXIF and other non-allowlisted image metadata. NPZ and tar metadata are rebuilt deterministically.
This is a simulation-only, field-minimized release. It is not a claim that all original real-world datasets/videos have been anonymized, nor a guarantee against source-scene matching for pixels that originate in public simulations.
Ego-Exo4D, FSD and ShareRobot original media remain outside this release pending separate redistribution permission and full visual/privacy review. Downloadable source data and model licenses do not automatically grant rehosting rights.
Licensing and quality
Use the per-record license and LICENSES/README.md: RoboTwin records retain MIT
and upstream attribution; DexMimicGen records retain CC-BY-NC-SA-4.0 restrictions.
These are source licenses, not a new universal license grant for all research data.
Checksums/schema validity do not demonstrate rationale correctness, causal
faithfulness, policy safety or reproduced model/paper performance.
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