[QLM-DATA-026] verified MuJoCo400 catalogue and private main release

README.md

@@ -1,3 +1,117 @@
-# QLM-Bench MuJoCo400 staging
+---
+license: unknown
+language:
+- en
+tags:
+- robotics
+- quadrupedal-loco-manipulation
+- mujoco
+- lerobot
+size_categories:
+- n<1K
+configs:
+- config_name: episodes
+  default: true
+  data_files:
+  - split: train
+    path: metadata/episodes_by_split/train.parquet
+  - split: validation
+    path: metadata/episodes_by_split/validation.parquet
+  - split: test
+    path: metadata/episodes_by_split/test.parquet
+- config_name: demonstration_index
+  data_files:
+  - split: index
+    path: metadata/demonstration_index.parquet
+---
+# QLM-Bench · MuJoCo400
 
-Incomplete staging branch. Main is unchanged until full payload/index readback is verified.
+`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.

catalog.json

@@ -0,0 +1,154 @@
+{
+  "schema": "qlm-catalog-v1",
+  "repo_id": "dontKnow23456/QLM-Bench",
+  "observed_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+  "tasks": [
+    "push_box",
+    "press_button",
+    "lift_basket",
+    "kick_ball_to_goal"
+  ],
+  "demonstrations": [
+    {
+      "task": "push_box",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "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"
+      },
+      "episodes": 100,
+      "actions": 44563,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "press_button",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "release": "mujoco-press-100-20261015-v1",
+        "canonical_root": "canonical/lerobot_v2_1/mujoco-press-100-20261015-v1",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/mujoco-press-100-20261015-v1/manifest.json",
+        "manifest_sha256": "0b8fcaeb08949e6e141419048c7f99c75f000135f453163ff14c53a3471a118d"
+      },
+      "episodes": 100,
+      "actions": 66903,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "lift_basket",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "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"
+      },
+      "episodes": 100,
+      "actions": 75182,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "kick_ball_to_goal",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+        "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"
+      },
+      "episodes": 100,
+      "actions": 76950,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "difficulty": {
+        "clean": 20,
+        "randomized": 80
+      },
+      "status": "verified",
+      "scope": "user_accepted_formal_MuJoCo_demonstrations_only",
+      "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+      "adaptation_usage": "new_mujoco_sft_candidate_data",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    }
+  ],
+  "episodes": 400,
+  "split": {
+    "train": 320,
+    "validation": 40,
+    "test": 40
+  },
+  "difficulty": {
+    "clean": 80,
+    "randomized": 320
+  },
+  "source_simulator": "MuJoCo",
+  "legacy_Isaac": {
+    "branch": "Isaac-based",
+    "revision": "519725c8bc77b35fd5d3b4ac8555a3e96a8876a7"
+  },
+  "private": true,
+  "work_id": "QLM-DATA-026"
+}

metadata/dataset_info.json

@@ -0,0 +1,109 @@
+{
+  "schema": "qlm-mujoco400-release-v1",
+  "work_id": "QLM-DATA-026",
+  "repo_id": "dontKnow23456/QLM-Bench",
+  "tasks": [
+    {
+      "release": "mujoco-push-100-20261015-v1",
+      "task": "push_box",
+      "title": "Push Box",
+      "episodes": 100,
+      "actions": 44563,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-push-100-20261015-v1",
+      "manifest": "releases/mujoco-push-100-20261015-v1/manifest.json",
+      "manifest_sha256": "fd05d020bc8e240228aad5d6b8a7b14b2e67fc9790dd13cf2ecf354dec9ba9c3",
+      "canonical_inventory_sha256": "057a6c1df7b0acab23e38dd6497f373053bd4d7129c975dac933dc22a8578b12"
+    },
+    {
+      "release": "mujoco-press-100-20261015-v1",
+      "task": "press_button",
+      "title": "Press Button",
+      "episodes": 100,
+      "actions": 66903,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
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+      "canonical_root": "canonical/lerobot_v2_1/mujoco-press-100-20261015-v1",
+      "manifest": "releases/mujoco-press-100-20261015-v1/manifest.json",
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+    },
+    {
+      "release": "mujoco-lift-100-20261015-v1",
+      "task": "lift_basket",
+      "title": "Lift Basket",
+      "episodes": 100,
+      "actions": 75182,
+      "split": {
+        "train": 80,
+        "validation": 10,
+        "test": 10
+      },
+      "canonical_root": "canonical/lerobot_v2_1/mujoco-lift-100-20261015-v1",
+      "manifest": "releases/mujoco-lift-100-20261015-v1/manifest.json",
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+      "release": "mujoco-kick-100-20261015-v1",
+      "task": "kick_ball_to_goal",
+      "title": "Kick Ball to Goal",
+      "episodes": 100,
+      "actions": 76950,
+      "split": {
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+        "validation": 10,
+        "test": 10
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+  "actions": 263598,
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+  "split": {
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+    "validation": 40,
+    "test": 40
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+    "randomized": 320
+  },
+  "physics_render_distribution": {
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+    "native/egl": 190
+  },
+  "old_Isaac_main_revision": "519725c8bc77b35fd5d3b4ac8555a3e96a8876a7",
+  "old_Isaac_branch": "Isaac-based",
+  "private": true,
+  "no_legacy_Isaac_episodes_in_main": true,
+  "no_model_asset_or_cache_payload": true,
+  "payload_revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+  "publication_work_id": "QLM-DATA-026",
+  "default_branch": "main",
+  "raw_policy_FPS": 50,
+  "RGB_resolution": [
+    640,
+    360
+  ],
+  "observer_resolution": [
+    1280,
+    720
+  ],
+  "observer_FPS": 25,
+  "normalizer_fit_or_WAM_training": false,
+  "retained_approved_pilots": 40,
+  "data_only_release": true,
+  "asset_source_or_weights_included": false
+}

metadata/demonstration_index.parquet

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metadata/release_index.json

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+[
+  {
+    "task": "push_box",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+    "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",
+    "episodes": 100,
+    "actions": 44563,
+    "split": {
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+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "new_mujoco_sft_candidate_data"
+  },
+  {
+    "task": "press_button",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+    "release": "mujoco-press-100-20261015-v1",
+    "canonical_root": "canonical/lerobot_v2_1/mujoco-press-100-20261015-v1",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/mujoco-press-100-20261015-v1/manifest.json",
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+      "validation": 10,
+      "test": 10
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+  },
+  {
+    "task": "lift_basket",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+    "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",
+    "episodes": 100,
+    "actions": 75182,
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+      "validation": 10,
+      "test": 10
+    },
+    "adaptation_usage": "new_mujoco_sft_candidate_data"
+  },
+  {
+    "task": "kick_ball_to_goal",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "fde0f80eeec7ae36b7848a2bc6147d3c063d9f9b",
+    "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",
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+    "adaptation_usage": "new_mujoco_sft_candidate_data"
+  }
+]

releases.json

@@ -0,0 +1,78 @@
+{
+  "repo_id": "dontKnow23456/QLM-Bench",
+  "default_branch": "main",
+  "simulator": "MuJoCo",
+  "episodes": 400,
+  "releases": [
+    {
+      "id": "mujoco-push-100-20261015-v1",
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+}

review/index.html

@@ -0,0 +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>