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

Ablation_Block_none: 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 the other three Ablation_Block sets. **No visual and no physical randomization** (nominal table, backdrop, lights, block colour, yaml start pose, 29.25 in table, calibrated cameras); only the shared block pose / yaw / motion / gripper draws. 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 | 337368 |
| 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.