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action list | env_state list | obs dict | robot_bases array 3D |
|---|---|---|---|
[
-0.2105138897895813,
0.013805333524942398,
0.21899999678134918,
0.014644693583250046
] | [0.03107117861509323,0.019533496350049973,0.014000000432133675,0.9678861498832703,0.0,0.0,0.25138896(...TRUNCATED) | {"ee_pos":[[[0.9652183651924133,-4.809095116797835e-6,0.26144495606422424,-0.21950750052928925],[-0.(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.19484089314937592,
-0.0012464489554986358,
0.21637973189353943,
0.0022896481677889824
] | [0.029402317479252815,0.018029330298304558,0.01221097819507122,0.9693279266357422,-0.000605919572990(...TRUNCATED) | {"ee_pos":[[[0.9643630385398865,0.001067421049810946,0.2645803689956665,-0.2187025398015976],[-0.000(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.18355438113212585,
-0.018878748640418053,
0.21646568179130554,
-0.01122897770255804
] | [0.027425697073340416,0.015535361133515835,0.011560285463929176,0.9726422429084778,-0.00004288096170(...TRUNCATED) | {"ee_pos":[[[0.9643841981887817,0.0127137191593647,0.2641996741294861,-0.215414896607399],[-0.011197(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.16851110756397247,
-0.032018426805734634,
0.21416586637496948,
-0.023980306461453438
] | [0.027265110984444618,0.013266164809465408,0.01139095239341259,0.9759254455566406,-0.002568902680650(...TRUNCATED) | {"ee_pos":[[[0.9646958708763123,0.017910191789269447,0.2627567946910858,-0.21163614094257355],[-0.01(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.1556592732667923,
-0.04433421418070793,
0.21280601620674133,
-0.033768437802791595
] | [0.02584247477352619,0.011629415675997734,0.011834206059575081,0.9795656800270081,-0.004130544606596(...TRUNCATED) | {"ee_pos":[[[0.9646985530853271,0.015420692972838879,0.2629048228263855,-0.20803822576999664],[-0.00(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.14323972165584564,
-0.05771418660879135,
0.21314729750156403,
-0.043111927807331085
] | [0.025061415508389473,0.011846386827528477,0.011686527170240879,0.9822339415550232,-0.00386211602017(...TRUNCATED) | {"ee_pos":[[[0.9648337364196777,0.011195501312613487,0.2626223564147949,-0.20451752841472626],[-0.00(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.1321815550327301,
-0.06675812602043152,
0.21167001128196716,
-0.049328844994306564
] | [0.023028647527098656,0.010786744765937328,0.011138885281980038,0.9854555726051331,-0.00052706664428(...TRUNCATED) | {"ee_pos":[[[0.9649743437767029,0.009672194719314575,0.2621658444404602,-0.2010379284620285],[-0.000(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.11961960047483444,
-0.07869923859834671,
0.2103099226951599,
-0.05796598270535469
] | [0.022391662001609802,0.010231995023787022,0.011376604437828064,0.986788809299469,-0.000216822416405(...TRUNCATED) | {"ee_pos":[[[0.9650951027870178,0.011742105707526207,0.26163625717163086,-0.19754056632518768],[-0.0(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.10701749473810196,
-0.09103085100650787,
0.2066589891910553,
-0.06450516730546951
] | [0.02150862291455269,0.010256496258080006,0.011235360987484455,0.9875415563583374,-0.000941439007874(...TRUNCATED) | {"ee_pos":[[[0.9651210308074951,0.012901188805699348,0.26148608326911926,-0.1940474659204483],[-0.00(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
[
-0.09971360862255096,
-0.09700017422437668,
0.20933960378170013,
-0.07107145339250565
] | [0.021465081721544266,0.010401626117527485,0.011103084310889244,0.9877974987030029,-0.00009132721606(...TRUNCATED) | {"ee_pos":[[[0.9651634693145752,0.011516873724758625,0.26139411330223083,-0.19057156145572662],[-0.0(...TRUNCATED) | [[[1.0,0.0,0.0,-0.4690000116825104],[0.0,1.0,0.0,-0.01899999938905239],[0.0,0.0,1.0,0.01999999955296(...TRUNCATED) |
End of preview.
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
Procedural Letters Sim Dataset (RL Coverage)
MuJoCo/ALOHA simulation rollouts of 26 procedural letter shapes (A-Z) collected with an RL-coverage policy. Intended for world-model training and letter generalization experiments.
Dataset structure
all_letters_50/
├── train/
│ └── episode_*.hdf5 (1170 episodes)
├── val/
│ └── episode_*.hdf5 (130 episodes)
├── metadata.json
└── README.md
- 50 episodes per letter (26 letters)
- Train: 45 episodes/letter (90/10 split)
- Val: 5 episodes/letter
- 600 frames per episode
- Image observations:
top_povRGB camera, 128x128 - Actions: 4D end-effector positions (left_ee_x, left_ee_y, right_ee_x, right_ee_y)
- Motion:
rl_coverage(scripted primitives with online high-level RL)
HDF5 episode structure
Each episode HDF5 contains:
| Key | Shape | Description |
|---|---|---|
action |
(600, 4) | Joint actions |
obs/images/top_pov |
(600, 128, 128, 3) | RGB camera view |
obs/ee_pos |
(600, 2, 4, 4) | End-effector poses |
env_state |
(600, ...) | Full MuJoCo state (position, orientation) |
Usage with interactive-world-sim
This dataset is in the flat layout expected by SimAlohaDataset:
python main.py \
algorithm=latent_world_model \
experiment=exp_latent_dyn \
dataset=sim_aloha_dataset \
dataset.dataset_dir=<path>/all_letters_50 \
dataset.obs_keys=[top_pov] \
dataset.horizon=1 \
dataset.val_horizon=1 \
algorithm.action_dim=4 \
algorithm.training_stage=1
Source
Collected with scripts/data_collection/sim_aloha_dataset_collection_scripted.py from:
https://github.com/WangYixuan12/interactive_world_sim
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