---
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.