README.md

---
license: apache-2.0
task_categories:
- robotics
- imitation-learning
pretty_name: STDB-CC Datasets
---

# STDB-CC Datasets

STDB-CC is a RoboTwin-based robot imitation learning dataset for studying visual distribution shift and task/environment factorization.

The dataset uses one fixed split:

```text
scene0 + scene3 -> train
scene2          -> validation
scene1          -> test
```

Split token:

```text
scene03_train_scene2_val_scene1_test
```

## Directory Layout

```text
raw/robotwin_stdb_cc/
  <task_name>/
    stdb_cc_scene0/
    stdb_cc_scene1/
    stdb_cc_scene2/
    stdb_cc_scene3/
    manifests/scene03_train_scene2_val_scene1_test/

processed/diffusion_policy/
  scene03_train_scene2_val_scene1_test/
    <task_name>-stdb_cc_task-50.zarr/

metadata/
  dataset_summary.json
  verify_reports/
```

## Contents

- `raw/robotwin_stdb_cc/`: raw RoboTwin STDB-CC data with 4 visual scenes per task.
- `processed/diffusion_policy/`: Diffusion Policy zarr datasets built from the train split only.
- `metadata/verify_reports/`: local verification reports for the raw task data.
- `metadata/dataset_summary.json`: machine-readable task list, split information, and artifact counts.

## Current Release

- Tasks: 50
- Episodes per task per scene: 50
- Raw episodes per task: 200
- DP train episodes per task: 100
- Scenes: `stdb_cc_scene0`, `stdb_cc_scene1`, `stdb_cc_scene2`, `stdb_cc_scene3`

The raw task manifests are stored under each task:

```text
raw/robotwin_stdb_cc/<task_name>/manifests/scene03_train_scene2_val_scene1_test/
```

The DP zarr artifacts embed their train manifest as:

```text
processed/diffusion_policy/scene03_train_scene2_val_scene1_test/<task_name>-stdb_cc_task-50.zarr/stdb_cc_manifest.jsonl
```

## Notes

This repository currently contains the raw RoboTwin STDB-CC data and the Diffusion Policy conversion. Future conversions for other policy families can be added under `processed/<format_or_model>/` without changing the raw data layout.