[QLM-DATA-041] exact prompts and accepted MuJoCo1000 release

README.md

@@ -8,7 +8,7 @@ tags:
 - mujoco
 - lerobot
 size_categories:
-- n<1K
+- 1K<n<10K
 configs:
 - config_name: episodes
   default: true
@@ -24,94 +24,94 @@ configs:
   - split: index
     path: metadata/demonstration_index.parquet
 ---
-# QLM-Bench · MuJoCo400
-
-`main` contains **400 user-accepted MuJoCo demonstrations**, four tasks ×100.
-The complete former Isaac-based main tree is preserved on [Isaac-based](https://huggingface.co/datasets/dontKnow23456/QLM-Bench/tree/Isaac-based)
-at `519725c8bc77b35fd5d3b4ac8555a3e96a8876a7`. This repository remains **private**; no visibility change accompanies this release.
-No old Isaac demonstration is mixed into this main snapshot.
-
-| Task | Episodes | Train/validation/test | Clean/Randomized |50Hz actions|Release|
-|---|---:|---|---|---:|---|
-| push_box |100|80/10/10|20/80|44,563|[mujoco-push-100-20261015-v1](releases/mujoco-push-100-20261015-v1/manifest.json)|
-| press_button |100|80/10/10|20/80|66,903|[mujoco-press-100-20261015-v1](releases/mujoco-press-100-20261015-v1/manifest.json)|
-| lift_basket |100|80/10/10|20/80|75,182|[mujoco-lift-100-20261015-v1](releases/mujoco-lift-100-20261015-v1/manifest.json)|
-| kick_ball_to_goal |100|80/10/10|20/80|76,950|[mujoco-kick-100-20261015-v1](releases/mujoco-kick-100-20261015-v1/manifest.json)|
-
-Totals: **320 train /40 validation /40 test**, **80 Clean /320 Randomized**,
-**263,598 actions /263,998 state boundaries**. Each task's original approved ten
-formal pilots are retained with their original source identity, together with90 new episodes.
-Clean uses small real geometry variations; splits draw different concrete configurations
-from the same approved ID distribution, with cross-split near-duplicate checks. There is no
-new OOD track, clutter quota or forced Recovery quota.
-
-[Catalogue](catalog.json) · [400-episode index](metadata/demonstration_index.parquet) ·
-[release metadata](releases/mujoco400-20261015-v1/manifest.json) · [local replay](review/index.html).
-HF Viewer configurations above contain **episode discovery metadata**, not model training tensors.
-The actual per-timestep Raw/Canonical payloads are linked by each row and release manifest.
-
-## Acquisition and preserved contracts
-
-Fixed Unitree Go2, front-left manipulation leg, original RAMBO controller and native9
-commands with force-zero. Physics500Hz /controller100Hz /action-state boundaries50Hz.
-Original full-FoV Ego/Task RGB is **640×360 at50FPS**; Observer is **1280×720 at25FPS**
-and diagnostic only. Raw preservesN+1 boundaries and independent exact pre-reset terminal
-images; Canonical retainsN action-aligned frames plus explicit terminal state/images.
-
-All400 are real MuJoCo physical executions. Source composition is **210 CUDA-MJWarp/OSMesa**
-and **190 NativeCPU/NativeEGL**. NativeCPU entries explicitly use RAMBOCPU. Older backend
-records do not all contain a controller-device field; missing fields remain missing in
-original provenance and are not retrospectively fabricated. EGL/OSMesa pixel equivalence
-is not claimed. Rendering imports the actual same-timestamp full physics snapshot and never
-advances an independent physics mirror.
-
-Push requires the full box footprint in its goal; Press uses the approved physical wall
-and12mm button displacement; Lift requires the complete basket geometry above the20mm
-clearance; Kick requires forward whole-ball entry into the physical goal. Original not-fallen
-and three completed50Hz-tick conditions remain. Task success and demonstration quality are
-separate; unknown or zero FL contact telemetry is not itself a hard failure.
-
-## Payload and reproducibility
-
-- `canonical/lerobot_v2_1/<release>/`: independent accepted100-episode LeRobot v2.1-style collections.
-- `raw/v2/<task>/<release>/<episode_uid>/`: original required Raw streams, all three camera videos,
-  full command/capture/provenance and terminal records, preserved byte-for-byte.
-- `physical/v1/<task>/<release>/<episode_uid>/`: actual50Hz qpos/qvel/act/mocap/equality snapshots,
-  original commands/terminal and source trace manifest. `bundle.json` is the portable published
-  companion manifest; the original trace manifest is provenance, not a claim that its historical
-  local telemetry gzip is also packaged. Required high-rate streams are published once as Raw
-  Parquet. This does not add blanket high-frequency diagnostic retention requirements.
-- `releases/`: per-task manifests, frozen engineering/user acceptance evidence and collection summary.
-- `schemas/`: original data/action/camera/timing contract snapshots.
-
-All release refs in `catalog.json` pin the immutable payload revision `fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b`.
-After downloading, use a release's `canonical_root` and manifest `raw_path`; original local
-paths inside historical provenance are identity records, not download/runtime dependencies.
-No symlink to a producer workspace is required by this published tree.
-
-```python
-from huggingface_hub import snapshot_download
-root = snapshot_download("dontKnow23456/QLM-Bench", repo_type="dataset",
-                         revision="fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b")
-# A payload-only snapshot has the four release manifests and all Raw/Canonical/snapshot data.
-# Use the final main revision for the additional catalogue, Viewer index and replay page.
-```
-
-This data publication does not train WAM, refit normalizers, repeat per-task WAM v2/v3
-compatibility checks, or revise historical first Isaac adaptation/evaluation inputs.
-It does not claim learned-policy success rates, AMD execution, or all planned public task
-runtime registrations being ready. No controller/model weights, model caches, asset source
-meshes/textures, failed candidates or unapproved development references are included.
-
-## License and attribution
-
-License remains **unknown**, matching the existing dataset policy; this release does not
-make a blanket MIT grant over third-party assets or original model resources. The Lift primary
-is the original OASIS basket; its separate asset-package license has not been independently
-established, and the upstream code repository MIT license is not treated as proof of asset
-redistribution permission. Asset source payloads are excluded. Original source IDs/hashes and
-asset provenance are preserved in each episode. Kick's procedural balls/physical goal and
-approved task profiles are identified in metadata; no new asset-source license is granted here.
-
-Publication work: `QLM-DATA-026`. All four tasks passed complete local data/media/clock/command/
-terminal/physical-identity checks and explicit human task acceptance before publication.
+# QLM-Bench · MuJoCo1000
+
+`main` contains **1000 user-accepted MuJoCo demonstrations**, ten tasks ×100.
+The dataset remains **private**. The complete original Isaac main remains on
+[Isaac-based](https://huggingface.co/datasets/dontKnow23456/QLM-Bench/tree/Isaac-based)
+at `519725c8bc77b35fd5d3b4ac8555a3e96a8876a7`. No Isaac episodes are mixed into this MuJoCo main.
+
+This release adds the accepted600 to the previous400. The old400 receive only
+user-requested prompt annotations and their necessary checksum/index dependencies;
+all their video, numerical Parquet, snapshot, command and terminal payloads remain
+byte-identical. Press Button's wording and entire per-task payload are unchanged.
+The previous400 main is retained in Git history at `a8eafc5b1e6019e4431d0417d9064f9fd658cc03`.
+
+| Task | Episodes | Exact current prompt | Release |
+|---|---:|---|---|
+| push_box | 100 | Push the box inside the outlined area. | [mujoco-push-100-20261015-v1](releases/mujoco-push-100-20261015-v1/manifest.json) |
+| press_button | 100 | Press the button. | [mujoco-press-100-20261015-v1](releases/mujoco-press-100-20261015-v1/manifest.json) |
+| lift_basket | 100 | Lift the basket by its handle. | [mujoco-lift-100-20261015-v1](releases/mujoco-lift-100-20261015-v1/manifest.json) |
+| kick_ball_to_goal | 100 | Kick the ball through the goal. | [mujoco-kick-100-20261015-v1](releases/mujoco-kick-100-20261015-v1/manifest.json) |
+| sweep_block_to_zone | 100 | Sweep the block into the outlined area. | [mujoco-sweep-100-20261017-v1](releases/mujoco-sweep-100-20261017-v1/manifest.json) |
+| close_fridge_door | 100 | Push against the fridge door until the door closes. | [mujoco-fridge-100-20261017-v1](releases/mujoco-fridge-100-20261017-v1/manifest.json) |
+| close_oven_door | 100 | Push the oven door until the door closes. | [mujoco-oven-100-20261017-v1](releases/mujoco-oven-100-20261017-v1/manifest.json) |
+| turn_valve | 100 | Rotate the valve lever upward to the upright position. | [mujoco-valve-100-20261017-v1](releases/mujoco-valve-100-20261017-v1/manifest.json) |
+| pull_open_drawer | 100 | Slide your foot into the drawer handle opening and pull the drawer outward. | [mujoco-drawer-100-20261017-v1](releases/mujoco-drawer-100-20261017-v1/manifest.json) |
+| open_room_door | 100 | Press down the lever handle, then push the door open. | [mujoco-door-100-20261017-v1](releases/mujoco-door-100-20261017-v1/manifest.json) |
+
+Every task has **80 train /10 validation /10 test** and **20 Clean /80 Randomized**.
+Totals are **800 train /100 validation /100 test**, **200 Clean /800 Randomized**,
+**964,151 actions /965,151 state boundaries**.
+Concrete configurations differ across splits while sharing the approved ID support.
+There is no extra OOD track, clutter quota or forced Recovery quota.
+
+[Catalogue](catalog.json) · [1000-episode index](metadata/demonstration_index.parquet) ·
+[Current prompts](metadata/task_prompts.json) · [Release summary](releases/mujoco1000-prompts-20261017-v1/manifest.json) ·
+[Local replay](review/index.html). Viewer rows are episode discovery metadata;
+actual time-step data are in the linked Raw and Canonical payloads.
+
+## Physical data and language annotation
+
+Fixed Unitree Go2, front-left manipulation, original RAMBO/native9 with force-zero,
+physics500Hz /controller100Hz /action-state50Hz. Ego/Task RGB is640×360@50FPS;
+Observer is1280×720@25FPS and is never a policy input. Raw hasN+1 boundaries and
+independent pre-reset terminal; Canonical hasN action-aligned frames and explicit
+terminal state/images. All actions, state, contacts, clocks, splits, task physics
+and success predicates remain unchanged by this language revision.
+
+The original400 preserve their actual mixed CUDA-MJWarp/OSMesa and NativeCPU/EGL
+source identities. The new600 are NativeCPU/original RAMBOCPU/NativeEGL. All six
+new tasks passed complete engineering checks and final per-task random10 user review.
+Drawer contains31 preserved nominal-source successes and69 approved scope-v5 successes;
+its10 original failed attempts remain historical evidence and are not released as
+successful demonstrations. Door uses real historical geometric bolt/socket exit,
+then>=15deg and original three-tick/not-fallen success. Old fixed20mm logic is not used.
+No success threshold, action schema, camera intrinsics or numerical trajectory changes.
+
+Fridge/Oven/Drawer/Room Door Observer videos use the user-requested **left-rear**
+view, rendered solely from the same existing real snapshots. Their Ego/Task videos
+and physics were not rerun. Other tasks' Observer views remain unchanged.
+
+`user-prompts-20261017-v1` is an explicit annotation revision: current Raw
+`task_text`, Canonical task/action-segment text and discovery metadata use the exact
+prompts above. Original acquisition instruction/source manifests and historical
+user/engineering receipts remain provenance; they are not rewritten as new executions.
+The local text embeddings were regenerated with the pinned frozen text encoder,
+without gradients or optimizer steps. Model weights/caches are not dataset payload.
+
+## Portable layout
+
+- `canonical/lerobot_v2_1/<release>/`: independent100-episode collections.
+- `raw/v2/<task>/<release>/<uid>/`: original required high-rate streams, all camera
+  videos, commands/capture/provenance and terminal records, with current language metadata.
+- `physical/v1/<task>/<release>/<uid>/`: original50Hz full snapshots, command and
+  terminal originals plus a portable `bundle.json`. The source trace manifest's
+  local optional telemetry paths are historical; required high-rate data are in Raw.
+- `releases/`: per-task manifests and exact engineering/user acceptance evidence.
+- `schemas/`: unchanged Raw/Canonical/action/camera contracts.
+
+Catalogue DataRefs pin payload revision `b84488eca8a723767cef27fa455ec2ea8169f81c`. Download final `main` for the
+catalogue/Viewer/replay index, then use the published relative paths; no producer
+workspace path or asset installation is required for the data reader.
+
+This is a data-only release. No WAM training, normalizer refit, repeated task-consumer
+validation, AMD execution, learned-policy success claim, or historical TRAIN/EVAL
+input change is implied. Asset source meshes/textures, model weights/caches,
+failed candidates and development references are excluded. License remains
+**unknown**: no blanket asset-source redistribution or MIT grant is asserted.
+The original OASIS basket provenance and unresolved independent asset license
+status are preserved; no asset source package is included.
+
+Publication work: `QLM-DATA-041`. The current GitHub code commits are reported
+separately; historical physical runs retain their actual original source identities.

catalog.json

@@ -1,24 +1,30 @@
 {
   "schema": "qlm-catalog-v1",
   "repo_id": "dontKnow23456/QLM-Bench",
-  "observed_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+  "observed_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
   "tasks": [
     "push_box",
     "press_button",
     "lift_basket",
-    "kick_ball_to_goal"
+    "kick_ball_to_goal",
+    "sweep_block_to_zone",
+    "close_fridge_door",
+    "close_oven_door",
+    "turn_valve",
+    "pull_open_drawer",
+    "open_room_door"
   ],
   "demonstrations": [
     {
       "task": "push_box",
       "ref": {
         "repo_id": "dontKnow23456/QLM-Bench",
-        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
         "release": "mujoco-push-100-20261015-v1",
         "canonical_root": "canonical/lerobot_v2_1/mujoco-push-100-20261015-v1",
         "schema": "wam-quadruped-v2.1.0",
         "manifest": "releases/mujoco-push-100-20261015-v1/manifest.json",
-        "manifest_sha256": "fd05d020bc8e240228aad5d6b8a7b14b2e67fc9790dd13cf2ecf354dec9ba9c3"
+        "manifest_sha256": "0f0510fc3b3b14fe38a0ec76df82de8819fc07b17c42135830f04bea0e4c9ee7"
       },
       "episodes": 100,
       "actions": 44563,
@@ -33,8 +39,10 @@
       },
       "status": "verified",
       "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
-      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "instruction": "Push the box inside the outlined area.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
       "included_in_first_adaptation_training_evaluation": {
         "v2": false,
         "v3": false
@@ -44,7 +52,7 @@
       "task": "press_button",
       "ref": {
         "repo_id": "dontKnow23456/QLM-Bench",
-        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
         "release": "mujoco-press-100-20261015-v1",
         "canonical_root": "canonical/lerobot_v2_1/mujoco-press-100-20261015-v1",
         "schema": "wam-quadruped-v2.1.0",
@@ -64,8 +72,10 @@
       },
       "status": "verified",
       "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
-      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "instruction": "Press the button.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
       "included_in_first_adaptation_training_evaluation": {
         "v2": false,
         "v3": false
@@ -75,12 +85,12 @@
       "task": "lift_basket",
       "ref": {
         "repo_id": "dontKnow23456/QLM-Bench",
-        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
         "release": "mujoco-lift-100-20261015-v1",
         "canonical_root": "canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1",
         "schema": "wam-quadruped-v2.1.0",
         "manifest": "releases/mujoco-lift-100-20261015-v1/manifest.json",
-        "manifest_sha256": "79d0c8d1c3d34a7684aa1f69f495897b5c2a4d683d88d4d533693c192c082c53"
+        "manifest_sha256": "e46ac80ef76f8b6debe88fa7d3fc78d73ebcc068eb81d01e66aefac42f2a9da9"
       },
       "episodes": 100,
       "actions": 75182,
@@ -95,8 +105,10 @@
       },
       "status": "verified",
       "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
-      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "instruction": "Lift the basket by its handle.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
       "included_in_first_adaptation_training_evaluation": {
         "v2": false,
         "v3": false
@@ -106,12 +118,12 @@
       "task": "kick_ball_to_goal",
       "ref": {
         "repo_id": "dontKnow23456/QLM-Bench",
-        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
         "release": "mujoco-kick-100-20261015-v1",
         "canonical_root": "canonical/lerobot_v2_1/mujoco-kick-100-20261015-v1",
         "schema": "wam-quadruped-v2.1.0",
         "manifest": "releases/mujoco-kick-100-20261015-v1/manifest.json",
-        "manifest_sha256": "8d3b8e974baebddcf2b9029362d2e1f10eb929714e87d04af2127ac2521a0074"
+        "manifest_sha256": "57911e335215f502d4fbdb80f4b48635dc19cfe5882a4fb04b969a4ed6b1149a"
       },
       "episodes": 100,
       "actions": 76950,
@@ -126,23 +138,223 @@
       },
       "status": "verified",
       "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
-      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "instruction": "Kick the ball through the goal.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "sweep_block_to_zone",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+        "release": "mujoco-sweep-100-20261017-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-sweep-100-20261017-v1",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/mujoco-sweep-100-20261017-v1/manifest.json",
+        "manifest_sha256": "3f5b28d1000af463849f95cab6164b3371d79c432d45a952170fd4f1ae7fab26"
+      },
+      "episodes": 100,
+      "actions": 179671,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "instruction": "Sweep the block into the outlined area.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "close_fridge_door",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+        "release": "mujoco-fridge-100-20261017-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-fridge-100-20261017-v1",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/mujoco-fridge-100-20261017-v1/manifest.json",
+        "manifest_sha256": "43708b0150ca16c834e9f44c46cd7f6f38c53892ef5beb619ff851524b483c39"
+      },
+      "episodes": 100,
+      "actions": 134921,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "instruction": "Push against the fridge door until the door closes.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "close_oven_door",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+        "release": "mujoco-oven-100-20261017-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-oven-100-20261017-v1",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/mujoco-oven-100-20261017-v1/manifest.json",
+        "manifest_sha256": "909be7e25699e918428ea7860a764cc7107e580e2e4b1aa560fdc453dabd2065"
+      },
+      "episodes": 100,
+      "actions": 78557,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "instruction": "Push the oven door until the door closes.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
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+      }
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+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+        "release": "mujoco-valve-100-20261017-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-valve-100-20261017-v1",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/mujoco-valve-100-20261017-v1/manifest.json",
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+        "test": 10
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+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "instruction": "Rotate the valve lever upward to the upright position.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
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+      }
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+    {
+      "task": "pull_open_drawer",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+        "release": "mujoco-drawer-100-20261017-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-drawer-100-20261017-v1",
+        "schema": "wam-quadruped-v2.1.0",
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+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "instruction": "Slide your foot into the drawer handle opening and pull the drawer outward.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
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+        "v3": false
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+      "task": "open_room_door",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+        "release": "mujoco-door-100-20261017-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-door-100-20261017-v1",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/mujoco-door-100-20261017-v1/manifest.json",
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+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "instruction": "Press down the lever handle, then push the door open.",
+      "language_revision": "user-prompts-20261017-v1",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "adaptation_usage": "mujoco_sft_candidate_data",
       "included_in_first_adaptation_training_evaluation": {
         "v2": false,
         "v3": false
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   ],
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+    "test": 100
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-    "randomized": 320
+    "clean": 200,
+    "randomized": 800
   },
   "source_simulator": "MuJoCo",
   "legacy_Isaac": {
@@ -150,5 +362,6 @@
     "revision": "519725c8bc77b35fd5d3b4ac8555a3e96a8876a7"
   },
   "private": true,
-  "work_id": "QLM-DATA-026"
+  "work_id": "QLM-DATA-041",
+  "language_revision": "user-prompts-20261017-v1"
 }

metadata/dataset_info.json

@@ -1,6 +1,6 @@
 {
-  "schema": "qlm-mujoco400-release-v1",
-  "work_id": "QLM-DATA-026",
+  "schema": "qlm-mujoco1000-release-v1",
+  "work_id": "QLM-DATA-041",
   "repo_id": "dontKnow23456/QLM-Bench",
   "tasks": [
     {
@@ -16,8 +16,9 @@
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       "manifest": "releases/mujoco-push-100-20261015-v1/manifest.json",
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+      "instruction": "Push the box inside the outlined area."
     },
     {
       "release": "mujoco-press-100-20261015-v1",
@@ -33,7 +34,8 @@
       "canonical_root": "canonical/lerobot_v2_1/mujoco-press-100-20261015-v1",
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+      "instruction": "Press the button."
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@@ -48,8 +50,9 @@
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+      "instruction": "Lift the basket by its handle."
     },
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       "release": "mujoco-kick-100-20261015-v1",
@@ -64,33 +67,145 @@
       },
       "canonical_root": "canonical/lerobot_v2_1/mujoco-kick-100-20261015-v1",
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+      "instruction": "Kick the ball through the goal."
+    },
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+      "task": "sweep_block_to_zone",
+      "title": "Sweep Block To Zone",
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+      "actions": 179671,
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+      "instruction": "Sweep the block into the outlined area."
+    },
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+      "task": "close_fridge_door",
+      "title": "Close Fridge Door",
+      "episodes": 100,
+      "actions": 134921,
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+      "instruction": "Push against the fridge door until the door closes."
+    },
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+      "task": "close_oven_door",
+      "title": "Close Oven Door",
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+      "task": "turn_valve",
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+      "instruction": "Rotate the valve lever upward to the upright position."
+    },
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+      "task": "pull_open_drawer",
+      "title": "Pull Open Drawer",
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+      "actions": 129843,
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+      "instruction": "Slide your foot into the drawer handle opening and pull the drawer outward."
+    },
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+      "task": "open_room_door",
+      "title": "Open Room Door",
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-    "native/egl": 190
+  "language_revision": "user-prompts-20261017-v1",
+  "prompts": {
+    "push_box": "Push the box inside the outlined area.",
+    "press_button": "Press the button.",
+    "lift_basket": "Lift the basket by its handle.",
+    "kick_ball_to_goal": "Kick the ball through the goal.",
+    "sweep_block_to_zone": "Sweep the block into the outlined area.",
+    "close_fridge_door": "Push against the fridge door until the door closes.",
+    "close_oven_door": "Push the oven door until the door closes.",
+    "turn_valve": "Rotate the valve lever upward to the upright position.",
+    "pull_open_drawer": "Slide your foot into the drawer handle opening and pull the drawer outward.",
+    "open_room_door": "Press down the lever handle, then push the door open."
   },
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-  "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
-  "publication_work_id": "QLM-DATA-026",
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   "default_branch": "main",
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metadata/release_index.json

@@ -1,13 +1,14 @@
 [
   {
     "task": "push_box",
+    "instruction": "Push the box inside the outlined area.",
     "repo_id": "dontKnow23456/QLM-Bench",
-    "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
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-    "adaptation_usage": "new_mujoco_sft_candidate_data"
+    "adaptation_usage": "mujoco_sft_candidate_data"
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     "task": "press_button",
+    "instruction": "Press the button.",
     "repo_id": "dontKnow23456/QLM-Bench",
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-    "adaptation_usage": "new_mujoco_sft_candidate_data"
+    "adaptation_usage": "mujoco_sft_candidate_data"
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   {
     "task": "lift_basket",
+    "instruction": "Lift the basket by its handle.",
     "repo_id": "dontKnow23456/QLM-Bench",
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+    "adaptation_usage": "mujoco_sft_candidate_data"
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     "task": "kick_ball_to_goal",
+    "instruction": "Kick the ball through the goal.",
     "repo_id": "dontKnow23456/QLM-Bench",
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+    "manifest_sha256": "57911e335215f502d4fbdb80f4b48635dc19cfe5882a4fb04b969a4ed6b1149a",
     "episodes": 100,
     "actions": 76950,
     "split": {
@@ -69,6 +73,120 @@
       "validation": 10,
       "test": 10
     },
-    "adaptation_usage": "new_mujoco_sft_candidate_data"
+    "adaptation_usage": "mujoco_sft_candidate_data"
+  },
+  {
+    "task": "sweep_block_to_zone",
+    "instruction": "Sweep the block into the outlined area.",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+    "release": "mujoco-sweep-100-20261017-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-sweep-100-20261017-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-sweep-100-20261017-v1/manifest.json",
+    "manifest_sha256": "3f5b28d1000af463849f95cab6164b3371d79c432d45a952170fd4f1ae7fab26",
+    "episodes": 100,
+    "actions": 179671,
+    "split": {
+      "train": 80,
+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "mujoco_sft_candidate_data"
+  },
+  {
+    "task": "close_fridge_door",
+    "instruction": "Push against the fridge door until the door closes.",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+    "release": "mujoco-fridge-100-20261017-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-fridge-100-20261017-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-fridge-100-20261017-v1/manifest.json",
+    "manifest_sha256": "43708b0150ca16c834e9f44c46cd7f6f38c53892ef5beb619ff851524b483c39",
+    "episodes": 100,
+    "actions": 134921,
+    "split": {
+      "train": 80,
+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "mujoco_sft_candidate_data"
+  },
+  {
+    "task": "close_oven_door",
+    "instruction": "Push the oven door until the door closes.",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+    "release": "mujoco-oven-100-20261017-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-oven-100-20261017-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-oven-100-20261017-v1/manifest.json",
+    "manifest_sha256": "909be7e25699e918428ea7860a764cc7107e580e2e4b1aa560fdc453dabd2065",
+    "episodes": 100,
+    "actions": 78557,
+    "split": {
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+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "mujoco_sft_candidate_data"
+  },
+  {
+    "task": "turn_valve",
+    "instruction": "Rotate the valve lever upward to the upright position.",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+    "release": "mujoco-valve-100-20261017-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-valve-100-20261017-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-valve-100-20261017-v1/manifest.json",
+    "manifest_sha256": "5e21b85262b3f83f77d22f0bd3d245820a21427388c86892babbb954f488a085",
+    "episodes": 100,
+    "actions": 63836,
+    "split": {
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+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "mujoco_sft_candidate_data"
+  },
+  {
+    "task": "pull_open_drawer",
+    "instruction": "Slide your foot into the drawer handle opening and pull the drawer outward.",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+    "release": "mujoco-drawer-100-20261017-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-drawer-100-20261017-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-drawer-100-20261017-v1/manifest.json",
+    "manifest_sha256": "73ad6efc1ad46dc31fde07b10a78675e3be314b715acd522264a6cc4e7f79606",
+    "episodes": 100,
+    "actions": 129843,
+    "split": {
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+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "mujoco_sft_candidate_data"
+  },
+  {
+    "task": "open_room_door",
+    "instruction": "Press down the lever handle, then push the door open.",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+    "release": "mujoco-door-100-20261017-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-door-100-20261017-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-door-100-20261017-v1/manifest.json",
+    "manifest_sha256": "ef0cf082afc8bba81d51fb86e98eb6f2a77905040b955cfc798302b3aa0fe6ea",
+    "episodes": 100,
+    "actions": 113725,
+    "split": {
+      "train": 80,
+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "mujoco_sft_candidate_data"
   }
 ]

releases.json

@@ -2,75 +2,177 @@
   "repo_id": "dontKnow23456/QLM-Bench",
   "default_branch": "main",
   "simulator": "MuJoCo",
-  "episodes": 400,
+  "episodes": 1000,
   "releases": [
     {
       "id": "mujoco-push-100-20261015-v1",
       "task": "push_box",
+      "instruction": "Push the box inside the outlined area.",
       "dataset_schema_version": "wam-quadruped-v2.1.0",
       "canonical_root": "canonical/lerobot_v2_1/mujoco-push-100-20261015-v1",
       "manifest": "releases/mujoco-push-100-20261015-v1/manifest.json",
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-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "manifest_sha256": "0f0510fc3b3b14fe38a0ec76df82de8819fc07b17c42135830f04bea0e4c9ee7",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
       "episodes": 100,
       "actions": 44563,
       "split": {
         "train": 80,
         "validation": 10,
         "test": 10
-      },
-      "adaptation_usage": "new_mujoco_sft_candidate_data"
+      }
     },
     {
       "id": "mujoco-press-100-20261015-v1",
       "task": "press_button",
+      "instruction": "Press the button.",
       "dataset_schema_version": "wam-quadruped-v2.1.0",
       "canonical_root": "canonical/lerobot_v2_1/mujoco-press-100-20261015-v1",
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-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
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       "actions": 66903,
       "split": {
         "train": 80,
         "validation": 10,
         "test": 10
-      },
-      "adaptation_usage": "new_mujoco_sft_candidate_data"
+      }
     },
     {
       "id": "mujoco-lift-100-20261015-v1",
       "task": "lift_basket",
+      "instruction": "Lift the basket by its handle.",
       "dataset_schema_version": "wam-quadruped-v2.1.0",
       "canonical_root": "canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1",
       "manifest": "releases/mujoco-lift-100-20261015-v1/manifest.json",
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-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "manifest_sha256": "e46ac80ef76f8b6debe88fa7d3fc78d73ebcc068eb81d01e66aefac42f2a9da9",
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       "actions": 75182,
       "split": {
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         "validation": 10,
         "test": 10
-      },
-      "adaptation_usage": "new_mujoco_sft_candidate_data"
+      }
     },
     {
       "id": "mujoco-kick-100-20261015-v1",
       "task": "kick_ball_to_goal",
+      "instruction": "Kick the ball through the goal.",
       "dataset_schema_version": "wam-quadruped-v2.1.0",
       "canonical_root": "canonical/lerobot_v2_1/mujoco-kick-100-20261015-v1",
       "manifest": "releases/mujoco-kick-100-20261015-v1/manifest.json",
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-      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "manifest_sha256": "57911e335215f502d4fbdb80f4b48635dc19cfe5882a4fb04b969a4ed6b1149a",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
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       "split": {
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         "test": 10
-      },
-      "adaptation_usage": "new_mujoco_sft_candidate_data"
+      }
+    },
+    {
+      "id": "mujoco-sweep-100-20261017-v1",
+      "task": "sweep_block_to_zone",
+      "instruction": "Sweep the block into the outlined area.",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-sweep-100-20261017-v1",
+      "manifest": "releases/mujoco-sweep-100-20261017-v1/manifest.json",
+      "manifest_sha256": "3f5b28d1000af463849f95cab6164b3371d79c432d45a952170fd4f1ae7fab26",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "episodes": 100,
+      "actions": 179671,
+      "split": {
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+        "validation": 10,
+        "test": 10
+      }
+    },
+    {
+      "id": "mujoco-fridge-100-20261017-v1",
+      "task": "close_fridge_door",
+      "instruction": "Push against the fridge door until the door closes.",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-fridge-100-20261017-v1",
+      "manifest": "releases/mujoco-fridge-100-20261017-v1/manifest.json",
+      "manifest_sha256": "43708b0150ca16c834e9f44c46cd7f6f38c53892ef5beb619ff851524b483c39",
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+      "episodes": 100,
+      "actions": 134921,
+      "split": {
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+        "validation": 10,
+        "test": 10
+      }
+    },
+    {
+      "id": "mujoco-oven-100-20261017-v1",
+      "task": "close_oven_door",
+      "instruction": "Push the oven door until the door closes.",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-oven-100-20261017-v1",
+      "manifest": "releases/mujoco-oven-100-20261017-v1/manifest.json",
+      "manifest_sha256": "909be7e25699e918428ea7860a764cc7107e580e2e4b1aa560fdc453dabd2065",
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+      "episodes": 100,
+      "actions": 78557,
+      "split": {
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+        "validation": 10,
+        "test": 10
+      }
+    },
+    {
+      "id": "mujoco-valve-100-20261017-v1",
+      "task": "turn_valve",
+      "instruction": "Rotate the valve lever upward to the upright position.",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-valve-100-20261017-v1",
+      "manifest": "releases/mujoco-valve-100-20261017-v1/manifest.json",
+      "manifest_sha256": "5e21b85262b3f83f77d22f0bd3d245820a21427388c86892babbb954f488a085",
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+      "episodes": 100,
+      "actions": 63836,
+      "split": {
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+        "test": 10
+      }
+    },
+    {
+      "id": "mujoco-drawer-100-20261017-v1",
+      "task": "pull_open_drawer",
+      "instruction": "Slide your foot into the drawer handle opening and pull the drawer outward.",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-drawer-100-20261017-v1",
+      "manifest": "releases/mujoco-drawer-100-20261017-v1/manifest.json",
+      "manifest_sha256": "73ad6efc1ad46dc31fde07b10a78675e3be314b715acd522264a6cc4e7f79606",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "episodes": 100,
+      "actions": 129843,
+      "split": {
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+        "validation": 10,
+        "test": 10
+      }
+    },
+    {
+      "id": "mujoco-door-100-20261017-v1",
+      "task": "open_room_door",
+      "instruction": "Press down the lever handle, then push the door open.",
+      "dataset_schema_version": "wam-quadruped-v2.1.0",
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-door-100-20261017-v1",
+      "manifest": "releases/mujoco-door-100-20261017-v1/manifest.json",
+      "manifest_sha256": "ef0cf082afc8bba81d51fb86e98eb6f2a77905040b955cfc798302b3aa0fe6ea",
+      "payload_revision": "b84488eca8a723767cef27fa455ec2ea8169f81c",
+      "episodes": 100,
+      "actions": 113725,
+      "split": {
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     }
   ],
   "legacy_Isaac_branch": "Isaac-based",

review/index.html

@@ -1 +1 @@
-<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>QLM-Bench MuJoCo400 replay</title><style>body{background:#14202a;color:#eef4f8;font:16px/1.6 system-ui;max-width:1500px;margin:auto;padding:24px}.grid{display:grid;grid-template-columns:repeat(3,1fr);gap:12px}video{width:100%}select,button{font:inherit;padding:9px}a{color:#8fc5ff}@media(max-width:800px){.grid{grid-template-columns:1fr}}</style><h1>QLM-Bench · MuJoCo400</h1><p>400 accepted physical demonstrations: four tasks ×100. Original Ego/Task50Hz and Observer25Hz; Observer is diagnostic only. Download the private snapshot and serve its root with a local HTTP server to use this player.</p><select id="task"></select> <select id="episode"></select> <button id="play">Play all</button> <button id="pause">Pause</button><p id="details"></p><div class="grid"><div>Ego<video controls preload="metadata"></video></div><div>Task<video controls preload="metadata"></video></div><div>Observer<video controls preload="metadata"></video></div></div><script>let rows=[];const t=document.querySelector('#task'),e=document.querySelector('#episode'),vs=[...document.querySelectorAll('video')];function show(){const r=rows.find(r=>r.episode_uid===e.value);vs.forEach((v,i)=>{v.src='../'+r.raw_path+'/cameras/'+['ego','task_centric','observer'][i]+'.mp4';v.load()});document.querySelector('#details').textContent=r.episode_uid+' | '+r.split+' | '+r.difficulty+' | '+r.appearance_preset+' | '+r.length/50+'s | '+r.physics_backend+'/'+r.renderer}function fill(){e.innerHTML='';for(const r of rows.filter(r=>r.task===t.value)){let x=document.createElement('option');x.value=r.episode_uid;x.textContent=r.episode_uid;e.append(x)}show()}fetch('episodes.json').then(r=>r.json()).then(r=>{rows=r;for(const v of new Set(r.map(x=>x.task))){let x=document.createElement('option');x.value=x.textContent=v;t.append(x)}fill()});t.onchange=fill;e.onchange=show;document.querySelector('#play').onclick=()=>vs.forEach(v=>{v.currentTime=0;v.play()});document.querySelector('#pause').onclick=()=>vs.forEach(v=>v.pause());</script></html>
+<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>QLM-Bench MuJoCo1000 replay</title><style>body{background:#14202a;color:#eef4f8;font:16px/1.6 system-ui;max-width:1500px;margin:auto;padding:24px}.grid{display:grid;grid-template-columns:repeat(3,1fr);gap:12px}video{width:100%}select,button{font:inherit;padding:9px}a{color:#8fc5ff}@media(max-width:800px){.grid{grid-template-columns:1fr}}</style><h1>QLM-Bench · MuJoCo1000</h1><p>1000 accepted physical demonstrations: ten tasks ×100. Original Ego/Task50Hz and Observer25Hz; Observer is diagnostic only. Download the private snapshot and serve its root with a local HTTP server to use this player.</p><select id="task"></select> <select id="episode"></select> <button id="play">Play all</button> <button id="pause">Pause</button><p id="details"></p><div class="grid"><div>Ego<video controls preload="metadata"></video></div><div>Task<video controls preload="metadata"></video></div><div>Observer<video controls preload="metadata"></video></div></div><script>let rows=[];const t=document.querySelector('#task'),e=document.querySelector('#episode'),vs=[...document.querySelectorAll('video')];function show(){const r=rows.find(r=>r.episode_uid===e.value);vs.forEach((v,i)=>{v.src='../'+r.raw_path+'/cameras/'+['ego','task_centric','observer'][i]+'.mp4';v.load()});document.querySelector('#details').textContent=r.episode_uid+' | '+r.split+' | '+r.difficulty+' | '+r.appearance_preset+' | '+r.length/50+'s | '+r.physics_backend+'/'+r.renderer+' | '+r.instruction}function fill(){e.innerHTML='';for(const r of rows.filter(r=>r.task===t.value)){let x=document.createElement('option');x.value=r.episode_uid;x.textContent=r.episode_uid;e.append(x)}show()}fetch('episodes.json').then(r=>r.json()).then(r=>{rows=r;for(const v of new Set(r.map(x=>x.task))){let x=document.createElement('option');x.value=x.textContent=v;t.append(x)}fill()});t.onchange=fill;e.onchange=show;document.querySelector('#play').onclick=()=>vs.forEach(v=>{v.currentTime=0;v.play()});document.querySelector('#pause').onclick=()=>vs.forEach(v=>v.pause());</script></html>