| --- |
| license: other |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - BEHAVIOR-1K |
| - R1Pro |
| - world-model |
| size_categories: |
| - 100K<n<1M |
| --- |
| |
| # behavior_r1_pro_val |
| |
| A held-out **validation** split of the BEHAVIOR-1K R1Pro simulation data, packaged as a single |
| merged [LeRobot](https://github.com/huggingface/lerobot) **v2.1** dataset. |
| |
| ## Contents |
| |
| - **250 episodes** — the last 5 episodes (indices 195–199) of each of the **50** |
| `sim_behavior_r1_pro.task-*` tasks, merged and renumbered `0…249`. |
| - **3,490,956 frames**, fps 30, robot `R1Pro`. |
| - **50 tasks** (one language instruction each). |
| - **3 camera streams** per episode: `head`, `left_wrist`, `right_wrist` (all 256×256 h264). |
| |
| This is the exact hold-out set excluded from training in our Cosmos3 GR-1/BEHAVIOR world-model |
| experiments (the built-in `heldout_per_task=5` rule: episodes with |
| `episode_index >= total_episodes - 5` per task). |
| |
| ## Layout |
| |
| ``` |
| meta/ |
| info.json # total_episodes=250, total_frames=3490956, total_tasks=50, splits={"train":"0:250"} |
| episodes.jsonl # 250 rows, episode_index 0..249 |
| tasks.jsonl # 50 tasks, task_index 0..49 |
| stats.json # recomputed over the 250 episodes |
| modality.json |
| embodiment.json |
| data/chunk-000/ episode_00000000.parquet … episode_00000249.parquet |
| videos/chunk-000/<camera>/episode_00000000.mp4 … episode_00000249.mp4 |
| ``` |
| |
| Per-frame parquet features include `action` (23-DOF joint), `observation.state` (256-D proprio), |
| `observation.cam_rel_poses` (21), `observation.task_info` (46), `timestamp`, and |
| `annotation.human.coarse_action`. The global `index`, per-episode `episode_index`, and `task_index` |
| columns were rewritten for the merged dataset; all other columns are copied verbatim from the source. |
| |
| ## Source & attribution |
| |
| Derived from **[`nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim`](https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim)** |
| (the `sim_behavior_r1_pro.*` task folders), built on the BEHAVIOR-1K benchmark. This repo is a |
| re-packaged subset for evaluation convenience; all original data ownership, terms, and licensing |
| follow the upstream NVIDIA dataset and BEHAVIOR-1K — please consult those sources before use. |
|
|
