dataset card
Browse files
README.md
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---
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license: mit
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tags:
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- LeRobot
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- robotics
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- simulation
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- cyclo_lab
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task_categories:
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- robotics
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---
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# Ablation_Block_both
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Ablation_Block_both: 2,000 successful sim block-pick demos for the visual vs physical domain-randomization ablation (data_collection/ablation_vp, 2026-11-07), same program/seeds/pairing as padiredd/Ablation_Block_visual and padiredd/Ablation_Block_physical. **Both visual and physical randomization**: the visual set's per-episode draws (table look, backdrop, block colour, room + spot lights) AND the physical set's (start pose +-2 deg, table height -2..+2 cm per part, camera mount/FOV). Paired episode for episode with the other three sets (pair_key).
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FFW-SG2 (ROBOTIS) in Isaac Lab, 15 fps, 3 cameras (head, left wrist, right wrist) stretched to 240x240, 16-dim actions / 22-dim state in the real datasets' layout. Collected in the cyclo_lab real2sim pipeline (padiredd).
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| episodes | 2000 |
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| frames | 337834 |
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| fps | 15 |
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| LeRobot format | v3.0 |
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| cameras | observation.images.rgb.cam_left_wrist, observation.images.rgb.cam_right_wrist, observation.images.rgb.cam_left_head |
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| other features | observation.state, action, timestamp, frame_index, episode_index, index, task_index |
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Uploaded 2026-11-07 07:34 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py.
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