---
license: unknown
language:
- en
tags:
- robotics
- quadrupedal-loco-manipulation
- mujoco
- lerobot
size_categories:
- 1K<n<10K
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 · 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.

The MuJoCo1000 demonstration release is data-only; separately versioned evaluation resources are described below. No WAM training, normalizer refit, repeated task-consumer
validation, AMD execution, learned-policy success claim, or historical TRAIN/EVAL
input change is implied. The demonstration release excludes policy weights/caches, failed candidates and development references. The separate evaluation runtime packs preserve their approved mesh/texture dependencies. 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.


## MuJoCo evaluation runtime resources — QLM-EVAL-001

`benchmarks/mujoco-standard-test100-v1/manifest.json` freezes ten held-out test configurations per task (2Clean8Randomized), original environment seeds, policy seed42, original task horizons, exact resource identities, and actual zero-step NativeCPU/RAMBOCPU/EGL reconstruction evidence. Formal policy trials and benchmark SR have NOT_RUN status.

`assets/<asset_id>/<resource_identity>/runtime/` contains each complete original MuJoCo pack, with an outer manifest and private-dataset redistribution evidence. The three-file original RAMBO controller is also available at `assets/rambo-go2-controller/iteration-2000/runtime/`, copied byte-for-byte from `dontKnow23456/rambo-go2-policies@65fa7b035ad16af78c2af2d64a3ac4aed9c81fdc`. Its model_2000.pt SHA256 is `1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706`; the independent model repo is retained.

The benchmark resource registry binds exact paths/manifests. Source archives and source manifests supply the local code commits without a GitHub push. With the QLM hub extra installed, `qlm evaluate fetch-case --revision FIXED_REVISION --case-id CASE_ID --output NEW_ROOT` acquires suite metadata and only that case's scene/controller resources; no training demonstrations or policy weights are downloaded. WAM supplies its own checkpoint, original normalizers, prompt embeddings and frozen encoders.

This additive resource publication preserves all original training payload bytes, paths, catalog/DataRefs, splits and exact prompts. Dataset visibility remains private; existing fixed revisions and Isaac-based remain readable. User-confirmed redistribution is scoped to this private dataset, preserves original attribution, and asserts no blanket new SPDX license.

The separately retained local engineering evidence uses original Isaac50 v2/v3 step1000 policies for22 bounded4s episodes. It is not a MuJoCo SFT evaluation or benchmark score. No training, AMD execution or WAM weight publication accompanies this resource release.

## Accepted evaluation observer source — QLM-EVAL-003

The active QLM source snapshot is `8456b9ab352445028340315627ed0a40087cf421`, available through `benchmarks/mujoco-standard-test100-v1/source/source_manifest.json` and its exact archive/hash. Protocol and resource-registry snapshot source identities are bound to the same committed source tree. The prior execution source remains separately indexed for historical engineering evidence.

Every evaluation task uses the accepted observer view: left-rear and slightly elevated, with eye `[-0.70,1.55,0.85]`m and look-at `[0.10,0,-0.10]`m relative to base translation/heading,35deg vertical FoV and stable world-up. This changes only diagnostic GL cameras; both policy views, physics/controller and task predicates remain unchanged. The original scene packs are not rewritten.

All100 case files, expected trial slots/seeds/horizons, original reset evidence, runtime/controller resources and training objects remain unchanged. `validation/observer-source-update-20261018.json` records the narrow source change and preserved historical provenance. The source guard still rejects stale or altered runtime code. No additional episode rendering, inference, physics, formal benchmark or SR is introduced by this source-only update. Local development episode/cache payloads were evicted after validation; compact original outcome/provenance receipts remain historical.