---
license: mit
tags:
- LeRobot
- robotics
- simulation
- cyclo_lab
task_categories:
- robotics
---
# Ablation_Block_both

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).

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).

| | |
|---|---|
| episodes | 2000 |
| frames | 337834 |
| fps | 15 |
| LeRobot format | v3.0 |
| cameras | observation.images.rgb.cam_left_wrist, observation.images.rgb.cam_right_wrist, observation.images.rgb.cam_left_head |
| other features | observation.state, action, timestamp, frame_index, episode_index, index, task_index |

Uploaded 2026-11-07 07:34 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py.