Datasets:

Appeon-a-Lew
/

physwm-tabletop-pushes

episode_id stringlengths 13 13	seed int64 0 10k	config stringclasses 1 value	n_objects int64 1 3	shapes stringclasses 39 values	target int64 0 2	direction stringclasses 4 values	impulse float64 0.01 3.62	speed float64 0.3 1.6	cam_elev float64 30 60	cam_dist float64 0.9 1.3	target_disp_1s float64 0.01 1.32	target_on_table_1s bool 2 classes	action_text stringlengths 59 79
train_0000000	0	train	3	box,box,box	2	toward	0.33806	1.457357	45.76063	1.024097	0.158033	true	Push the white box toward the camera with an impulse of 0.33806 N·s.
train_0000001	1	train	2	box,box	0	away	1.278214	1.309688	44.555729	1.292295	0.194104	true	Push the orange box away from the camera with an impulse of 1.27821 N·s.
train_0000002	2	train	3	cylinder,box,cylinder	1	right	0.292691	0.947473	50.394344	1.239695	0.134427	true	Push the yellow box to the right with an impulse of 0.292691 N·s.
train_0000003	3	train	3	sphere,cylinder,box	0	left	0.073765	0.58433	30.91038	1.182786	0.137141	true	Push the blue ball to the left with an impulse of 0.0737648 N·s.
train_0000004	4	train	3	sphere,box,cylinder	1	away	1.693499	1.55126	44.751759	1.17032	0.139522	true	Push the brown box away from the camera with an impulse of 1.6935 N·s.
train_0000005	5	train	3	cylinder,box,sphere	0	left	0.249941	1.338621	51.224867	0.90048	0.854884	false	Push the cyan cylinder to the left with an impulse of 0.249941 N·s.
train_0000006	6	train	2	sphere,cylinder	0	left	0.131868	0.871555	55.495969	1.072998	0.335318	true	Push the white ball to the left with an impulse of 0.131868 N·s.
train_0000007	7	train	3	sphere,box,box	0	right	0.339806	0.647879	45.423529	1.098749	0.240737	true	Push the white ball to the right with an impulse of 0.339806 N·s.
train_0000008	8	train	3	cylinder,sphere,cylinder	2	left	0.363362	1.427132	41.799321	1.146691	0.276489	true	Push the yellow cylinder to the left with an impulse of 0.363362 N·s.
train_0000009	9	train	2	box,cylinder	1	away	0.188495	0.781171	52.222454	1.011899	0.089772	true	Push the pink cylinder away from the camera with an impulse of 0.188495 N·s.
train_0000010	10	train	3	cylinder,box,sphere	1	toward	0.722619	0.869224	37.859492	0.959766	0.094299	true	Push the blue box toward the camera with an impulse of 0.722619 N·s.
train_0000011	11	train	1	sphere	0	right	0.191036	1.013798	41.069794	1.104556	0.962506	false	Push the green ball to the right with an impulse of 0.191036 N·s.
train_0000012	12	train	2	box,box	1	left	0.337907	1.160125	50.115314	1.278647	0.149886	true	Push the gray box to the left with an impulse of 0.337907 N·s.
train_0000013	13	train	3	sphere,box,box	0	toward	0.381385	1.157573	33.520097	0.989241	0.34677	true	Push the brown ball toward the camera with an impulse of 0.381385 N·s.
train_0000014	14	train	1	cylinder	0	right	0.684571	0.688327	52.389671	0.925426	0.069158	true	Push the pink cylinder to the right with an impulse of 0.684571 N·s.
train_0000015	15	train	3	box,box,cylinder	1	left	1.084307	1.410705	32.666231	1.149586	0.223415	true	Push the pink box to the left with an impulse of 1.08431 N·s.
train_0000016	16	train	2	sphere,box	1	right	0.051603	0.399479	38.339856	1.282268	0.028669	true	Push the white box to the right with an impulse of 0.0516034 N·s.
train_0000017	17	train	3	sphere,cylinder,box	0	away	0.154828	1.004912	40.464467	1.296426	0.477038	true	Push the cyan ball away from the camera with an impulse of 0.154828 N·s.
train_0000018	18	train	3	cylinder,box,sphere	2	right	0.445065	1.246743	48.247663	1.119771	0.104381	true	Push the cyan ball to the right with an impulse of 0.445065 N·s.
train_0000019	19	train	2	cylinder,box	0	away	0.094803	1.006519	57.535914	0.919183	0.082944	true	Push the purple cylinder away from the camera with an impulse of 0.0948034 N·s.
train_0000020	20	train	3	box,cylinder,box	1	right	0.16238	1.355827	41.357123	1.00369	0.127866	true	Push the blue cylinder to the right with an impulse of 0.16238 N·s.
train_0000021	21	train	1	cylinder	0	away	0.279266	0.742569	35.915782	1.168824	0.051237	true	Push the pink cylinder away from the camera with an impulse of 0.279266 N·s.
train_0000022	22	train	3	box,cylinder,box	1	away	0.051836	0.591724	32.613225	0.974316	0.057863	true	Push the yellow cylinder away from the camera with an impulse of 0.0518364 N·s.
train_0000023	23	train	1	cylinder	0	away	0.105713	1.265516	42.456658	1.039659	0.148758	true	Push the cyan cylinder away from the camera with an impulse of 0.105713 N·s.
train_0000024	24	train	2	sphere,cylinder	1	away	0.973147	0.891768	41.348179	0.970418	0.116483	true	Push the yellow cylinder away from the camera with an impulse of 0.973147 N·s.
train_0000025	25	train	2	box,box	0	right	0.175779	1.237006	41.282126	0.955163	0.199355	true	Push the brown box to the right with an impulse of 0.175779 N·s.
train_0000026	26	train	3	cylinder,sphere,sphere	2	away	0.134649	1.106271	37.192722	1.145533	0.955266	false	Push the white ball away from the camera with an impulse of 0.134649 N·s.
train_0000027	27	train	1	box	0	right	0.177227	1.141188	35.454483	1.244155	0.25898	true	Push the cyan box to the right with an impulse of 0.177227 N·s.
train_0000028	28	train	2	sphere,sphere	0	left	0.062602	1.580715	48.663855	0.906716	0.211061	true	Push the pink ball to the left with an impulse of 0.0626019 N·s.
train_0000029	29	train	3	cylinder,box,cylinder	0	left	0.083692	1.155959	41.441831	1.127543	0.19237	true	Push the gray cylinder to the left with an impulse of 0.0836923 N·s.
train_0000030	30	train	1	sphere	0	right	0.096985	1.447868	37.50519	1.157644	1.098585	false	Push the blue ball to the right with an impulse of 0.0969847 N·s.
train_0000031	31	train	2	cylinder,sphere	1	toward	0.196146	0.353016	49.0622	1.13813	0.061068	true	Push the pink ball toward the camera with an impulse of 0.196146 N·s.
train_0000032	32	train	3	box,box,cylinder	2	right	0.086801	1.51017	57.735905	1.165546	0.234654	true	Push the pink cylinder to the right with an impulse of 0.0868015 N·s.
train_0000033	33	train	3	box,box,cylinder	1	left	0.019658	0.550337	54.251337	1.006527	0.039317	true	Push the brown box to the left with an impulse of 0.0196585 N·s.
train_0000034	34	train	1	box	0	toward	0.117512	0.418935	50.332974	1.204366	0.018555	true	Push the red box toward the camera with an impulse of 0.117512 N·s.
train_0000035	35	train	1	sphere	0	right	0.152602	0.432281	54.388337	0.965102	0.130602	true	Push the purple ball to the right with an impulse of 0.152602 N·s.
train_0000036	36	train	2	cylinder,sphere	0	right	0.157932	0.410897	38.077732	1.20448	0.019883	true	Push the orange cylinder to the right with an impulse of 0.157932 N·s.
train_0000037	37	train	1	cylinder	0	away	0.082675	0.702338	55.458306	1.179735	0.068482	true	Push the cyan cylinder away from the camera with an impulse of 0.0826755 N·s.
train_0000038	38	train	1	box	0	left	0.647899	0.978338	32.207432	1.194226	0.116353	true	Push the orange box to the left with an impulse of 0.647899 N·s.
train_0000039	39	train	3	box,box,sphere	1	away	0.348419	1.22844	34.159624	1.098317	0.225036	true	Push the orange box away from the camera with an impulse of 0.348419 N·s.
train_0000040	40	train	2	cylinder,sphere	0	away	0.158421	0.966381	34.199951	1.048017	0.134254	true	Push the cyan cylinder away from the camera with an impulse of 0.158421 N·s.
train_0000041	41	train	2	sphere,box	0	away	0.510617	1.441847	34.726353	1.011017	1.147053	false	Push the brown ball away from the camera with an impulse of 0.510617 N·s.
train_0000042	42	train	1	cylinder	0	right	0.884567	1.121164	41.123941	1.270706	0.227491	true	Push the pink cylinder to the right with an impulse of 0.884567 N·s.
train_0000043	43	train	2	cylinder,box	1	away	0.339569	0.690025	46.053848	1.094195	0.074066	true	Push the black box away from the camera with an impulse of 0.339569 N·s.
train_0000044	44	train	3	box,sphere,cylinder	0	right	0.585784	1.035964	59.508648	1.158523	0.109073	true	Push the yellow box to the right with an impulse of 0.585784 N·s.
train_0000045	45	train	3	sphere,sphere,cylinder	1	right	0.470051	1.567189	58.811891	1.049331	0.144538	true	Push the white ball to the right with an impulse of 0.470051 N·s.
train_0000046	46	train	2	cylinder,box	0	left	0.671983	1.149303	39.782661	1.000674	0.17827	true	Push the blue cylinder to the left with an impulse of 0.671983 N·s.
train_0000047	47	train	1	cylinder	0	toward	0.146996	0.551705	52.513937	1.217191	0.039419	true	Push the cyan cylinder toward the camera with an impulse of 0.146996 N·s.
train_0000048	48	train	1	cylinder	0	away	0.393596	0.696394	33.152283	0.934206	0.039341	true	Push the purple cylinder away from the camera with an impulse of 0.393596 N·s.
train_0000049	49	train	1	sphere	0	away	0.056542	0.35162	56.779277	1.150431	0.069558	true	Push the purple ball away from the camera with an impulse of 0.0565418 N·s.
train_0000050	50	train	3	box,sphere,sphere	0	right	0.15379	0.548255	56.828393	1.245014	0.037186	true	Push the black box to the right with an impulse of 0.15379 N·s.
train_0000051	51	train	2	cylinder,box	0	left	0.206517	1.030786	47.406097	1.1943	0.188843	true	Push the gray cylinder to the left with an impulse of 0.206517 N·s.
train_0000052	52	train	3	sphere,box,cylinder	1	right	0.520198	0.956852	37.969376	1.285125	0.108	true	Push the gray box to the right with an impulse of 0.520198 N·s.
train_0000053	53	train	3	cylinder,sphere,cylinder	0	toward	0.839809	0.917388	56.676639	1.29656	0.184045	true	Push the black cylinder toward the camera with an impulse of 0.839809 N·s.
train_0000054	54	train	1	box	0	away	0.11434	1.186313	51.351256	0.95739	0.141507	true	Push the blue box away from the camera with an impulse of 0.11434 N·s.
train_0000055	55	train	3	sphere,box,cylinder	1	away	0.138067	0.669176	52.000736	1.243794	0.079324	true	Push the gray box away from the camera with an impulse of 0.138067 N·s.
train_0000056	56	train	2	sphere,sphere	0	right	0.362382	1.367226	38.584405	1.186565	0.557071	true	Push the purple ball to the right with an impulse of 0.362382 N·s.
train_0000057	57	train	1	sphere	0	right	0.353797	0.941024	35.626915	1.09301	0.508517	true	Push the cyan ball to the right with an impulse of 0.353797 N·s.
train_0000058	58	train	2	sphere,box	0	toward	0.049974	0.776006	36.196588	1.110715	0.244754	true	Push the yellow ball toward the camera with an impulse of 0.0499741 N·s.
train_0000059	59	train	3	sphere,cylinder,cylinder	0	toward	0.106196	1.12136	49.259541	1.278369	0.984828	false	Push the pink ball toward the camera with an impulse of 0.106196 N·s.
train_0000060	60	train	1	cylinder	0	left	0.088561	0.444465	50.371287	0.90825	0.023502	true	Push the yellow cylinder to the left with an impulse of 0.0885608 N·s.
train_0000061	61	train	2	cylinder,sphere	0	away	0.442581	0.551185	55.760831	1.176165	0.030035	true	Push the purple cylinder away from the camera with an impulse of 0.442581 N·s.
train_0000062	62	train	2	sphere,sphere	1	left	0.642223	1.339777	55.52044	1.028898	0.915793	false	Push the gray ball to the left with an impulse of 0.642223 N·s.
train_0000063	63	train	2	sphere,box	1	toward	0.57121	1.118518	56.160058	0.956946	0.227308	true	Push the gray box toward the camera with an impulse of 0.57121 N·s.
train_0000064	64	train	2	box,box	1	away	0.036245	0.357571	47.018844	1.214436	0.024695	true	Push the gray box away from the camera with an impulse of 0.0362454 N·s.
train_0000065	65	train	1	cylinder	0	away	0.20142	0.772642	39.454399	0.910288	0.069039	true	Push the red cylinder away from the camera with an impulse of 0.20142 N·s.
train_0000066	66	train	3	sphere,cylinder,sphere	1	right	0.863711	1.425021	52.490564	0.991487	0.181564	true	Push the pink cylinder to the right with an impulse of 0.863711 N·s.
train_0000067	67	train	3	cylinder,box,sphere	1	right	0.044119	0.367504	32.963209	1.119789	0.016346	true	Push the green box to the right with an impulse of 0.0441195 N·s.
train_0000068	68	train	2	box,sphere	0	toward	0.802825	1.132917	57.59216	1.002333	0.190652	true	Push the orange box toward the camera with an impulse of 0.802825 N·s.
train_0000069	69	train	1	sphere	0	away	0.16261	0.388657	53.589408	1.182371	0.080211	true	Push the white ball away from the camera with an impulse of 0.16261 N·s.
train_0000070	70	train	2	cylinder,box	1	away	0.258367	0.706652	32.519859	0.957128	0.070713	true	Push the yellow box away from the camera with an impulse of 0.258367 N·s.
train_0000071	71	train	3	cylinder,cylinder,cylinder	0	away	0.125383	1.536325	45.159754	1.078185	0.312537	true	Push the blue cylinder away from the camera with an impulse of 0.125383 N·s.
train_0000072	72	train	3	box,box,cylinder	2	left	0.150059	0.341158	35.600919	1.071974	0.013369	true	Push the white cylinder to the left with an impulse of 0.150059 N·s.
train_0000073	73	train	3	sphere,sphere,sphere	0	left	0.043063	1.234655	41.889591	1.248709	0.275308	true	Push the cyan ball to the left with an impulse of 0.0430633 N·s.
train_0000074	74	train	1	cylinder	0	away	0.427393	0.563594	45.43488	1.284807	0.033107	true	Push the brown cylinder away from the camera with an impulse of 0.427393 N·s.
train_0000075	75	train	2	sphere,cylinder	1	toward	0.15591	0.418455	42.039532	1.166852	0.02036	true	Push the blue cylinder toward the camera with an impulse of 0.15591 N·s.
train_0000076	76	train	2	cylinder,sphere	1	toward	0.084981	1.208492	52.191005	1.256597	1.04082	false	Push the orange ball toward the camera with an impulse of 0.0849814 N·s.
train_0000077	77	train	1	cylinder	0	away	0.072338	0.510464	52.760144	1.14159	0.037597	true	Push the pink cylinder away from the camera with an impulse of 0.0723379 N·s.
train_0000078	78	train	3	box,sphere,box	1	toward	0.113244	1.032671	41.772022	0.927346	0.416998	false	Push the blue ball toward the camera with an impulse of 0.113244 N·s.
train_0000079	79	train	1	sphere	0	left	0.523405	1.526884	45.352706	1.147522	1.279483	false	Push the gray ball to the left with an impulse of 0.523405 N·s.
train_0000080	80	train	3	cylinder,cylinder,box	1	toward	0.504127	0.711432	57.984496	0.963746	0.074353	true	Push the black cylinder toward the camera with an impulse of 0.504127 N·s.
train_0000081	81	train	1	box	0	left	0.894848	0.821914	51.516258	1.063548	0.102887	true	Push the orange box to the left with an impulse of 0.894848 N·s.
train_0000082	82	train	3	sphere,sphere,sphere	1	away	0.315375	1.262145	30.58472	1.260959	1.119747	false	Push the pink ball away from the camera with an impulse of 0.315375 N·s.
train_0000083	83	train	3	cylinder,box,cylinder	1	away	0.305372	0.689012	55.470006	0.917103	0.069539	true	Push the white box away from the camera with an impulse of 0.305372 N·s.
train_0000084	84	train	2	cylinder,sphere	0	toward	0.435456	0.592889	33.677806	1.070189	0.038006	true	Push the cyan cylinder toward the camera with an impulse of 0.435456 N·s.
train_0000085	85	train	3	cylinder,cylinder,box	2	toward	0.120713	1.33225	58.49587	1.055144	0.215075	true	Push the brown box toward the camera with an impulse of 0.120713 N·s.
train_0000086	86	train	3	box,cylinder,box	1	left	0.258856	1.567313	38.921017	0.965815	0.249289	true	Push the blue cylinder to the left with an impulse of 0.258856 N·s.
train_0000087	87	train	2	cylinder,box	1	away	0.534979	1.226009	41.92973	0.917467	0.21186	true	Push the red box away from the camera with an impulse of 0.534979 N·s.
train_0000088	88	train	2	sphere,sphere	0	right	0.351872	1.580889	39.683403	1.255785	1.00788	false	Push the blue ball to the right with an impulse of 0.351872 N·s.
train_0000089	89	train	3	box,box,sphere	1	left	0.739113	0.431573	57.18713	1.110248	0.033213	true	Push the blue box to the left with an impulse of 0.739113 N·s.
train_0000090	90	train	2	box,cylinder	0	away	0.319549	0.845576	57.17019	1.0645	0.079835	true	Push the purple box away from the camera with an impulse of 0.319549 N·s.
train_0000091	91	train	3	sphere,box,cylinder	2	away	0.792242	1.559257	47.906622	1.21963	0.33815	true	Push the blue cylinder away from the camera with an impulse of 0.792242 N·s.
train_0000092	92	train	2	cylinder,cylinder	1	toward	0.215234	1.051707	54.036763	1.296901	0.169394	true	Push the white cylinder toward the camera with an impulse of 0.215234 N·s.
train_0000093	93	train	3	box,cylinder,sphere	1	left	0.235225	0.305103	50.941936	1.215078	0.010143	true	Push the gray cylinder to the left with an impulse of 0.235225 N·s.
train_0000094	94	train	1	sphere	0	toward	0.207706	0.732697	44.960172	1.223292	0.287039	true	Push the blue ball toward the camera with an impulse of 0.207706 N·s.
train_0000095	95	train	2	cylinder,box	1	right	0.413878	0.658952	49.881586	1.058777	0.052786	true	Push the red box to the right with an impulse of 0.413878 N·s.
train_0000096	96	train	3	sphere,cylinder,sphere	1	away	0.514477	1.313521	48.254221	0.935118	0.206301	true	Push the cyan cylinder away from the camera with an impulse of 0.514477 N·s.
train_0000097	97	train	1	box	0	right	0.256591	0.391933	35.070827	1.063384	0.02758	true	Push the cyan box to the right with an impulse of 0.256591 N·s.
train_0000098	98	train	2	cylinder,box	0	toward	0.037633	0.344327	30.795106	1.010965	0.017346	true	Push the brown cylinder toward the camera with an impulse of 0.0376332 N·s.
train_0000099	99	train	3	sphere,sphere,sphere	1	toward	0.492272	1.174087	58.961564	1.032736	0.672947	false	Push the cyan ball toward the camera with an impulse of 0.492272 N·s.

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physwm tabletop pushes

Synthetic tabletop push episodes for studying VLMs as physical world models: 3D bounding-box grounding and 1 s-ahead endpoint prediction from 2D frames with metric depth, intrinsics and dense trajectories.

Code, plans and experiment records: https://github.com/Appeon-a-Lew/VLM_world_models
Viewer (GitHub Pages, streams files from this repo): see the code README once published

Task

Input: RGB frame(s) at t = 0 (optionally t = 0.1, 0.2, …), camera intrinsics K and cam2world, the object list with referring expressions, and an action text such as "Push the red box to the left with an impulse of 0.85 N·s."
Task A (perception): 3D centre of every object at t = 0.
Task B (dynamics): 3D centre of every object 1 s after the push.
Task N (next frame): 3D centre of every object at the next stored frame (t = 0.1 s).
Coordinates: camera frame of view 0 (OpenCV: x right, y down, z forward), metres. Object states in meta.json are world frame (z up, table top z = 0); quaternions wxyz.

Scenes

Tabletop with 1–3 primitives (train); colour, shape/size, density and friction sampled independently; one random camera per episode (view 0; further views in v3+); an instantaneous impulse at the target's centre of mass in a camera-relative direction (left / right / away / toward) with unreported ±15° direction jitter. Density, friction and the jitter are hidden variables: endpoint prediction is conditional on them.

Splits and seeds

split	config	seeds	what differs
train	sim_train.yaml	0–9999	—
id_test / val_id	sim_train.yaml	1 000 000+ / 5 000 000+	nothing (ID)
ood_objects / val_ood_objects	sim_ood_objects.yaml	2 000 000+ / 6 000 000+	capsule / cone / hexagonal prism
ood_forces / val_ood_forces	sim_ood_forces.yaml	3 000 000+ / 7 000 000+	push speeds outside the train range
ood_config / val_ood_config	sim_ood_config.yaml	4 000 000+ / 8 000 000+	4–5 objects clustered at a table corner
val_diag_{elev,count,corner,elev_corner}	sim_diag_*.yaml	8 800 000+	single-factor diagnostics (legacy OOD axes)

Counts: train 10 000; legacy phase-1 splits id_test / ood_objects / ood_forces / ood_config 1 000 each; their validation counterparts val_id / val_ood_* 500 each; val_diag_* 300 each (17 400 episodes, ~11 GB in v3). Every episode is reproducible from (config, seed); provenance.json per split pins the resolved config, generator source hashes and MuJoCo/NumPy versions. The dataset viewer shows the meta config: per-episode parquet tables under tables/ (seed, object count/shapes, action, camera, target displacement); raw episode files live under v3/ and stream over HTTPS.

Files per episode (`<split>/<episode_id>/`)

meta.json — objects (shape, colour, half extents, mass, density, friction), camera(s) (K, cam2world, fovy, azimuth/elevation/distance), action (target, direction, impulse, speed, text), stored states, files map; v3+ adds views and frame_times.
v2 naming: rgb_t0.png, rgb_t1.png (448×448), seg_t0.png (object-id mask), depth_t0.npz (metric depth, float16, key depth), traj.npz (50 Hz pos/quat, 2 s).
v3 naming (dense frames): rgb_v{v}f{kk}.png, depth_v{v}f{kk}.npz, seg_v{v}f{kk}.png for every view v and frame kk in frame_times (0.0–1.0 s at 10 Hz), plus traj.npz.
index.jsonl, provenance.json, generation.json per split.

Versions

v2/ — corrected corpus (2026-10-27 audit fixes: observation timing, settled aiming, provenance-gated resume, indexed loading), 2 rendered frames.
v3/ — same physics plus the dense frame schedule and multi-view support (2026-11-13).
site/ — static JSON API + sample files for the web viewer.
preds/ — prediction jsonl files from published baselines (records: episode_id, task, objects {id: [x,y,z] camera frame or null}, extents for box3d style, raw answer).

Known caveats

Pushed objects mostly stop within ~0.2 s (friction); balls roll and ~1/3 of pushed balls leave the table (large errors; look at medians as well as means).
Visibility is not guaranteed: partially occluded or out-of-frame objects occur; stratify by the segmentation mask before attributing errors to dynamics.
on_table in meta.json is a positional heuristic, not a contact predicate.
Depth background is ~87 m (sky); valid surface depth is < ~3 m.

Citation

Please cite the code repository and, once available, the companion paper. Dataset generated with MuJoCo 3.17; generator and evaluation code in the GitHub repo.

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