license: mit
task_categories:
- robotics
tags:
- isaac-lab
- simulation
- raw
- ffw-sg2
- cyclo_lab
Ablation_Block_visual_raw
Visual vs physical DR ablation (data_collection/ablation_vp, 2026-11-07), VISUAL set: code-as-policy block pick, program cap/programs/block_pick_v1_nocomp.py (2k_withoutpush recipe: no pushes, |yaw| 0-45 deg, full region, gripper open/close randomization), seeds 40001-40040, 40 parts x 50 successes, --split_rng. Visual randomization only: table look, backdrop, block colour, dr2 room lights, spot lights (per-episode values in meta.json dr). Paired with Ablation_Block_physical_raw by meta.json pair_key (seed, batch, env). Part 12 was re-collected after a worker was stopped (logs/abl_visual_p012.killed.log).
Raw Isaac Lab / Isaac Sim 5.1 collector output for the ROBOTIS FFW SG2 (cyclo_lab real2sim pipeline, padiredd). Kept because
it has what the converted LeRobot sets do not: full-resolution video, per-episode randomisation / object metadata and the
failed attempts (success: false).
| folders | 40 (abl_visual_p001 ... abl_visual_p040) |
| episodes | 2,107 (2,000 successful) |
| episodes with video | 2,107 |
| files / size | 10,616 / 18.2 GB |
Converted LeRobot sets (successes only, cameras stretched to 240x240):
Layout
<folder>/index.json: collector config of that part and its episode list<folder>/episode_NNNN/:cam_left_head.mp4,cam_left_wrist.mp4,cam_right_wrist.mp4,meta.json,obs.npzobs.npz(example episode, T steps at 15 fps):timestamp(138,),state(138, 22),action(138, 16),cube_pose(138, 7),tcp_pose(138, 7),tcp_target(138, 7),phase(138,)meta.jsonkeys: episode, success, arm, cube_init_xy_yaw, cube_settled_pos, cube_lift, gripper_joint1_end, final_phase, table_top_z, program_sha, program_result, params, skills, dr, start_pose, pair_key, length, fps
logs/: collector logs- Cameras:
cam_left_head.mp4(672x376),cam_left_wrist.mp4,cam_right_wrist.mp4(240x424), H.264.
Uploaded 2026-11-07 04:11 UTC with data_collection/hf_datasets/upload_raw.py.