Stage 18-task VLA dataset release

README.md

@@ -24,8 +24,8 @@ configs:
 
 Scripted-expert demonstrations for human-robot collaborative manipulation in
 the [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) simulator. This
-release contains exactly **300 validated successful episodes for each of 15
-tasks**: 4,500 episodes and 1,154,102 policy steps in total.
+release contains exactly **300 validated successful episodes for each of 18
+tasks**: 5,400 episodes and 1,398,862 policy steps in total.
 
 The robot is a single-arm Franka. Observations include head-camera and
 right-wrist RGB-D streams, robot state, end-effector pose, and gripper state.
@@ -41,12 +41,15 @@ giving a 20 Hz policy rate.
 - `dump_bin_assist`
 - `dump_bin_interrupt`
 - `place_bread_in_basket_interrupt`
+- `place_bread_in_basket_neutral`
 - `place_burger_fries_assist`
 - `place_burger_fries_interrupt`
+- `place_burger_fries_neutral`
 - `place_dual_shoes_assist`
 - `place_dual_shoes_interrupt`
 - `place_food_in_skillet_assist`
 - `pour_water`
+- `put_object_cabinet_interrupt`
 - `stack_bowls_three_assist`
 - `stack_bowls_three_interrupt`
 - `stack_bowls_three_neutral`

dataset_summary.json

@@ -1,5 +1,5 @@
 {
-  "completed_task_count": 15,
+  "completed_task_count": 18,
   "contains_symlinks": false,
   "created_at": "2026-08-11T04:01:55.730840+00:00",
   "episode_files": [
@@ -11,9 +11,6 @@
     "hardlink"
   ],
   "pending_tasks_excluded": [
-    "place_bread_in_basket_neutral",
-    "place_burger_fries_neutral",
-    "put_object_cabinet_interrupt",
     "put_object_cabinet_neutral"
   ],
   "permanently_excluded_tasks": [
@@ -21,7 +18,7 @@
   ],
   "schema_version": "genesis_hr_bench.vla_hf_ready.v1",
   "selected_per_task": 300,
-  "selected_total": 4500,
+  "selected_total": 5400,
   "selection_policy": "ascending numeric seed among validated successes",
   "tasks": {
     "categorize_cooperative": {
@@ -66,6 +63,13 @@
       "rejected_or_incomplete_candidates": 0,
       "selected": 300
     },
+    "place_bread_in_basket_neutral": {
+      "available_validated_successes": 324,
+      "first_selected_seed": 4,
+      "last_selected_seed": 971,
+      "rejected_or_incomplete_candidates": 4,
+      "selected": 300
+    },
     "place_burger_fries_assist": {
       "available_validated_successes": 340,
       "first_selected_seed": 0,
@@ -80,6 +84,13 @@
       "rejected_or_incomplete_candidates": 0,
       "selected": 300
     },
+    "place_burger_fries_neutral": {
+      "available_validated_successes": 333,
+      "first_selected_seed": 0,
+      "last_selected_seed": 763,
+      "rejected_or_incomplete_candidates": 6,
+      "selected": 300
+    },
     "place_dual_shoes_assist": {
       "available_validated_successes": 327,
       "first_selected_seed": 0,
@@ -108,6 +119,13 @@
       "rejected_or_incomplete_candidates": 0,
       "selected": 300
     },
+    "put_object_cabinet_interrupt": {
+      "available_validated_successes": 317,
+      "first_selected_seed": 0,
+      "last_selected_seed": 701,
+      "rejected_or_incomplete_candidates": 24,
+      "selected": 300
+    },
     "stack_bowls_three_assist": {
       "available_validated_successes": 305,
       "first_selected_seed": 1,
@@ -130,5 +148,5 @@
       "selected": 300
     }
   },
-  "updated_at": "2026-08-11T05:38:14.921402+00:00"
+  "updated_at": "2026-08-11T06:02:51.621351+00:00"
 }

place_bread_in_basket_neutral/rasterizer/seed_100/meta.json

@@ -0,0 +1,286 @@
+{
+  "task": "place_bread_in_basket_neutral",
+  "seed": 100,
+  "instruction": "place both pieces of bread in the basket while the human works nearby on the same table",
+  "success": true,
+  "plan_success": true,
+  "renderer": "rasterizer",
+  "setting": "sim",
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+  "evaluate": {
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+    "success": true,
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+  "embodiment": "franka",
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+  "neutral_avatar_motion": "open_bottle",
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+  "config_snapshot": {
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+    "opposite_head_camera": true
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+  "n_steps": 116,
+  "cameras": {
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+      "head_camera",
+      "right_wrist"
+    ],
+    "jpeg_quality": 92,
+    "capture_stride": 25,
+    "schema_version": "vla_steps_v2_qpos_target",
+    "action_label_keys": [
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+      "qpos_delta_action",
+      "ee_delta_action",
+      "gripper_target_action",
+      "gripper_action"
+    ]
+  }
+}

place_bread_in_basket_neutral/rasterizer/seed_100/steps.h5

@@ -0,0 +1,3 @@
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+oid sha256:8a9f0918bf95bf0f9a37b7c357f87f052ed0e318d4d24fc2ce2c32087b3ed87a
+size 13901074

place_bread_in_basket_neutral/rasterizer/seed_100/verdict.json

@@ -0,0 +1,154 @@
+{
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+}

place_bread_in_basket_neutral/rasterizer/seed_101/meta.json

@@ -0,0 +1,286 @@
+{
+  "task": "place_bread_in_basket_neutral",
+  "seed": 101,
+  "instruction": "place both pieces of bread in the basket while the human works nearby on the same table",
+  "success": true,
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place_bread_in_basket_neutral/rasterizer/seed_110/meta.json

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place_bread_in_basket_neutral/rasterizer/seed_111/meta.json

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place_bread_in_basket_neutral/rasterizer/seed_116/meta.json

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place_bread_in_basket_neutral/rasterizer/seed_117/meta.json

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place_bread_in_basket_neutral/rasterizer/seed_120/meta.json

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place_bread_in_basket_neutral/rasterizer/seed_123/meta.json

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