| --- |
| pretty_name: sim_ep_03 |
| task_categories: |
| - robotics |
| tags: |
| - real2sim |
| - ur5e |
| - lerobot |
| --- |
| # sim_ep_03 |
|
|
| 43 simulated cup-placement episodes derived from the real recordings in |
| [mzxuan/manipulation_realworld](https://huggingface.co/datasets/mzxuan/manipulation_realworld). |
| Each source target is preserved (16 pink, 14 yellow, 13 blue); clutter is randomized. |
| The reconstructed environment and appearance follow the source setup. |
| Actions come from a state-feedback simulation expert, not extraction from video. |
|
|
| - `dataset/local/sim_ep_03_train` and `sim_ep_03_validation`: validated LeRobot training splits. |
| - `raw/episodeXXXX.tar.gz`: accepted raw rollout, lossless camera frames, camera videos, |
| synchronized state/action HDF5, scene specification, contact traces, and validation. |
| - `debug/videos` and `debug/panels`: real/simulation comparisons for all 43 episodes. |
| - `inputs/prepared_scenes_and_appearance.tar.gz`: real-derived scene inputs and appearance assets. |
| - `reproducibility.tar.gz`: frozen configuration, code snapshots, provenance and acceptance reports. |
| - `UPLOAD_MANIFEST.json`: sizes and SHA-256 checksums of published files. |
|
|
| Control/capture is 15 Hz, physics/contact logging is 300 Hz, with seven state/action channels |
| and training horizon 50. Cameras are wall, wrist, and body_forward. |
| All 43 episodes, the actual OpenPI loader, and 129 debug videos plus 43 panels passed the |
| completion gate before upload. Consult the packaged reports for individual checks. |
| |
| Original recordings remain in the linked source dataset. Source archive SHA-256: |
| `85e7410827c2b5d33bc7099b7e6a8833f5fd0331959463c9f24199a289d3f85b`. |
| Archives retain paths relative to the generation run; JSON provenance may contain original |
| machine paths that must be remapped when reproducing the simulation elsewhere. |
| Failed attempts, runtime caches, credentials, and dependency installations are not included. |
| |
