---
configs:
  - config_name: default
    data_files:
      - split: train
        path: hf_viewer/train.parquet
tags:
  - lerobot
  - robotics
  - imitation-learning
  - mujoco
  - act
task_categories:
  - robotics
pretty_name: Hepha ACT Dataset
---

# tmeynier/hepha_act_100_domain_randomized

LeRobot-style behavior-cloning dataset generated from the Hepha MuJoCo simulation.

## Summary

- Robot type: `hepha_mujoco`
- Codebase version: `v3.0`
- Episodes: `100`
- Frames: `200341`
- FPS: `30`
- Joint normalization: `min_max_0_1`

## Features

- `timestamp`: `float32` `[1]`
- `frame_index`: `int64` `[1]`
- `episode_index`: `int64` `[1]`
- `index`: `int64` `[1]`
- `task_index`: `int64` `[1]`
- `episode.drawer_index`: `int64` `[1]`
- `episode.cube_position`: `float32` `[3]`
- `episode.cube_quaternion`: `float32` `[4]`
- `observation.drawer_index`: `int64` `[1]`
- `observation.state`: `float32` `[15]`
- `action`: `float32` `[15]`
- `observation.state_raw`: `float32` `[15]`
- `action_raw`: `float32` `[15]`
- `observation.images.head_camera`: `video` `[3, 480, 640]`

## Policy-Facing Columns

- `observation.state`: normalized robot joints in `[0, 1]`
- `observation.drawer_index`: selected drawer target for each frame
- `action`: normalized next-step robot joint targets in `[0, 1]`
- `observation.images.head_camera`: RGB video frames from the robot camera

## Extra Columns

- `observation.state_raw`: raw joint-sensor readings (including configured sensor noise)
- `action_raw`: raw next-step MuJoCo joint positions
- `episode.drawer_index`: selected drawer index for each frame
- `episode.cube_position`: initial cube position for each frame
- `episode.cube_quaternion`: initial cube orientation for each frame

## Notes

The dataset was produced by first computing the full IK episode, then resampling the robot joint trajectory at a constant normalized joint speed before saving frames/actions.
Training code appends the normalized drawer target `(drawer_index - 1) / 8` to the policy state when `observation.drawer_index` is present.

Joint limits and the normalization formula are stored in `meta/info.json`.