| --- |
| license: mit |
| task_categories: |
| - robotics |
| - reinforcement-learning |
| language: |
| - en |
| pretty_name: PhysProbe Dynamics Probing Dataset |
| size_categories: |
| - 10K<n<100K |
| tags: |
| - robotics |
| - isaac-lab |
| - physics |
| - probing |
| - manipulation |
| - franka |
| --- |
| |
| # PhysProbe Dynamics Probing Dataset |
|
|
| Manipulation episodes from Isaac Lab collected for probing physics understanding in video world models (V-JEPA 2, VideoMAE, DINOv2). Each episode includes dual-camera RGB (384×384), robot state, scripted/RL actions, and per-timestep physics ground truth (contact forces, object kinematics, physics randomization parameters). |
|
|
| ## Tasks |
|
|
| | Task | Episodes | Policy | Physics Randomization | |
| |------|---------:|--------|------------------------| |
| | Push | 1,500 | Scripted (random direction, no target — Step 0) | mass, obj_friction, surface_friction | |
| | Strike | 3,000 | Scripted (random direction, no target — Step 0) | mass, friction, surface_friction, restitution | |
| | Reach | 600 | Scripted | None (negative control) | |
| | Drawer | 2,000 | RL (RSL_RL) | drawer_joint_damping | |
| | PegInsert | 2,500 | Scripted (Factory) | held_friction, fixed_friction, held_mass | |
| | NutThread | 2,500 | Scripted (Factory) | held_friction, fixed_friction, held_mass | |
| | **Total** | **12,100** | | | |
|
|
| ## Format |
|
|
| LeRobot V2 layout. Per-task: |
| ``` |
| <task>/ |
| data/chunk-000/episode_NNNNNN.parquet |
| videos/chunk-000/observation.images.image_0/episode_NNNNNN.mp4 # table_cam |
| videos/chunk-000/observation.images.image_1/episode_NNNNNN.mp4 # wrist_cam |
| meta/info.json |
| meta/episodes.jsonl |
| meta/tasks.jsonl |
| meta/stats.json |
| meta/modality.json |
| ``` |
|
|
| Per-episode parquet columns: |
| - `observation.state` (8D): 7 joint positions + 1 gripper |
| - `action` (3–8D, task-dependent) |
| - `next.reward`, `next.done` |
| - `physics_gt.*` (task-specific — see below) |
| - Frame index, timestep, episode index metadata |
|
|
| ## Physics Ground Truth (`physics_gt.*`) |
| |
| ### Common across all tasks |
| - `ee_position` (3), `ee_orientation` (4), `ee_velocity` (3), `ee_angular_velocity` (3) — end-effector kinematics |
| - `joint_pos` (7), `joint_vel` (7) — arm joint state |
| - `phase` (1) — task phase label (task-dependent enum; 7 = idle) |
|
|
| ### Contact fields (per task) |
|
|
| **Push, Strike, Reach:** |
| - `contact_flag` (1), `contact_force` (3), `contact_point` (3) — aggregate ee↔object + object↔surface |
| - `contact_finger_l_object_flag/force`, `contact_finger_r_object_flag/force` — per-finger ee↔object (new in 2026-04-23) |
| - `contact_object_surface_flag/force` — object↔surface (new in 2026-04-23) |
|
|
| **PegInsert, NutThread:** |
| - `contact_flag` (1), `contact_force` (3), `contact_point` (3) — aggregate |
| - `contact_finger_l_peg_flag/force`, `contact_finger_r_peg_flag/force` (PegInsert) — finger↔peg |
| - `contact_finger_l_nut_flag/force`, `contact_finger_r_nut_flag/force` (NutThread) — finger↔nut |
| - `contact_peg_socket_flag/force` (PegInsert) — peg↔hole (reconstructed as residual from peg total contact minus finger reactions; direct pair filter unsupported in Factory direct env) |
| - `contact_nut_bolt_flag/force` (NutThread) — nut↔bolt (direct exact-pair sensor) |
|
|
| **Drawer:** |
| - `handle_position` (3), `handle_velocity` (3) |
| - `drawer_joint_pos` (1), `drawer_joint_vel` (1) |
|
|
| ### Task-specific kinematics |
|
|
| **Push/Strike/Reach (Step 0):** |
| - `object_position` (3), `object_orientation` (4), `object_velocity` (3), `object_angular_velocity` (3) |
| - `target_position` (3) — placeholder `[0, 0, 0]` (no target in Step 0) |
|
|
| **PegInsert/NutThread:** |
| - `held_position` (3), `held_orientation` (4), `held_velocity` (3), `held_angular_velocity` (3) — peg/nut kinematics |
| - `fixed_position` (3), `fixed_orientation` (4) — hole/bolt pose |
| - `insertion_depth` (1) — peg_insert only |
| |
| ### Physics randomization parameters (per episode) |
| |
| Stored in episode metadata (`physics_gt.*_{static,dynamic}_friction`, `*_mass`, etc.) — see per-task schema above for exact fields. |
| |
| ## 2026-04-23 Recollection Note |
| |
| The previous version of this dataset (before 2026-04-23) had a data-collection bug: contact forces were zero-filled across all tasks because the sensor configuration did not use the proper body filters / the Factory direct env does not support `get_net_contact_forces` on `ArticulationView`. This version fixes the following: |
|
|
| 1. **Push, Strike, Drawer, Reach**: Per-pair `ContactSensor` with `filter_prim_paths_expr` on finger/object bodies → real nonzero contact forces. |
| 2. **NutThread**: Direct exact-pair sensor (`contact_nut_bolt_*`) → direct nut↔bolt force. |
| 3. **PegInsert**: GPU pair filtering on hole is unsupported in direct Factory env. Peg↔socket contact is reconstructed as a **residual**: `F_peg_socket = F_peg_total - F_finger_l_peg - F_finger_r_peg` (Newton's 3rd law). This is sparser and noisier than a direct sensor; finger-grip force dominates and is subtracted, so pay attention when using `contact_peg_socket_*` for downstream probing. |
| 4. **Phase label**: Now correctly tracks scripted policy state transitions (previously always 7/idle for RL policies). |
|
|
| ### Known caveats (unchanged from previous release) |
|
|
| - Push/Strike are Step 0: no target, `success=True` for all, `target_position=[0,0,0]`. |
| - Drawer randomizes only `drawer_joint_damping` (Isaac Lab env limitation — handle friction/mass are fixed). |
| - Factory tasks (PegInsert, NutThread): collection uses scripted policy; success rate is low for unguided inserts. |
|
|
| ## Collection Pipeline |
|
|
| - Isaac Sim 4.5 / Isaac Lab v2.2.1 |
| - Scripted oracle policies + optional RL checkpoints (`rl_games` for Factory, `rsl_rl` for Drawer) |
| - Dual camera rendering at 384×384, 15 fps |
| - `num_envs` per task: 8 (Factory), 16 (others) parallel |
| - Hardware: 4× NVIDIA A6000 48 GB |
|
|
| Collection script: [Leesangoh/PhysREPA_Tasks](https://github.com/Leesangoh/PhysREPA_Tasks) (`archive_data_collection/collect_sample_data.py`). |
|
|
| ## Intended use |
|
|
| This dataset is designed for **probing physics understanding** in pretrained video encoders: |
| - Linear probes from mean-pooled features onto `physics_gt.*` targets |
| - Temporal-aligned window-level probing (per-window features → per-window targets) |
| - Do NOT episode-mean aggregate features/targets for kinematic probing — that collapses temporal structure and produces misleading results. |
|
|
| ## Citation |
|
|
| TBD (paper in preparation). |
|
|
