Datasets:

Berkeley-ICON-Lab
/

ALTER-data

cube_to_destination_min float64 0 0.43	cube_to_return_min float64 0 0.07	cube_to_return_final float64 0.01 0.6	sponge_to_pad_final float64 0.01 1.08	sponge_sweep_y float64 0 0.58	wipe_coverage_final float64 0 1	cube_returned bool 2 classes	sponge_home bool 2 classes	cube_visited_dest bool 2 classes	coverage_ok bool 2 classes	task_success bool 2 classes	placewipe_success bool 2 classes	generator_length_ok bool 1 class	generator_acceptance_success bool 1 class	sponge_cube_collision bool 2 classes	sponge_cube_collision_steps int64 0 1.17k	episode_length int64 1.8k 1.8k	seed int64 1k 1.05k	mode int64 0 3
0.002496	0.005601	0.367954	0.340265	0.250759	0	false	false	true	false	false	false	false	false	false	0	1,800	1,000	0
0.030293	0.008847	0.019626	0.138521	0.323731	0.8	true	false	true	true	false	false	false	false	false	0	1,800	1,001	0
0.004408	0.00131	0.047078	0.031701	0.315088	0.925	true	true	true	true	true	true	false	false	false	0	1,800	1,002	0
0.06612	0.007326	0.028091	0.052995	0.312415	0.925	true	true	true	true	true	true	false	false	false	0	1,800	1,003	0
0.057296	0.017273	0.312473	0.382039	0.158851	0	false	false	true	false	false	false	false	false	false	0	1,800	1,004	0
0.027914	0.022937	0.028127	0.020931	0.303812	0.975	true	true	true	true	true	true	false	false	false	0	1,800	1,005	0
0.032958	0.013743	0.342473	0.319297	0.24576	0.1	false	false	true	false	false	false	false	false	false	0	1,800	1,006	0
0.04904	0.003876	0.06748	0.019474	0.268139	1	true	true	true	true	true	true	false	false	false	0	1,800	1,007	0
0.346299	0.003218	0.273913	0.044885	0.331387	1	false	true	false	true	false	false	false	false	true	231	1,800	1,008	0
0.00152	0.063935	0.318436	0.385282	0.001886	0	false	false	true	false	false	false	false	false	false	0	1,800	1,009	0
0.361817	0.038169	0.038169	0.418398	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,010	0
0.023571	0.021916	0.061144	0.622128	0.51224	0	true	false	true	false	false	false	false	false	false	0	1,800	1,011	0
0.005972	0.003825	0.015737	0.069308	0.316322	0.35	true	true	true	false	false	false	false	false	false	0	1,800	1,012	0
0.303131	0.030025	0.030025	0.404367	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,013	0
0.373475	0.038132	0.181956	0.567905	0.412562	0	false	false	false	false	false	false	false	false	false	0	1,800	1,014	0
0.292535	0.005131	0.006053	0.501341	0.025008	0	true	false	false	false	false	false	false	false	false	0	1,800	1,015	0
0.360572	0.040136	0.229194	0.049186	0.282603	0.95	false	true	false	true	false	false	false	false	true	1,162	1,800	1,016	0
0.383074	0.066093	0.161481	0.430531	0.015806	0	false	false	false	false	false	false	false	false	false	0	1,800	1,017	0
0.004618	0.03034	0.040872	0.27742	0.214976	0.55	true	false	true	false	false	false	false	false	true	6	1,800	1,018	0
0.044182	0.008298	0.04619	0.054535	0.317036	1	true	true	true	true	true	true	false	false	false	0	1,800	1,019	0
0.332414	0.018556	0.01996	0.435803	0.055907	0	true	false	false	false	false	false	false	false	false	0	1,800	1,020	0
0.057014	0.029216	0.063493	0.017592	0.268485	1	true	true	true	true	true	true	false	false	false	0	1,800	1,021	0
0.006741	0.019631	0.37389	0.372906	0.207043	0	false	false	true	false	false	false	false	false	false	0	1,800	1,022	0
0.414852	0.05123	0.118018	0.358424	0.082798	0	false	false	false	false	false	false	false	false	false	0	1,800	1,023	0
0.004342	0.031992	0.398061	0.348734	0.202689	0	false	false	true	false	false	false	false	false	false	0	1,800	1,024	0
0.321688	0.034279	0.03429	0.330188	0.028235	0	true	false	false	false	false	false	false	false	false	0	1,800	1,025	0
0.007822	0.007802	0.069787	0.025424	0.273561	0.925	true	true	true	true	true	true	false	false	false	0	1,800	1,026	0
0.376718	0.055042	0.05752	0.576683	0.140453	0	true	false	false	false	false	false	false	false	false	0	1,800	1,027	0
0.037419	0.004706	0.051744	0.06266	0.299031	0.875	true	true	true	true	true	true	false	false	false	0	1,800	1,028	0
0.002217	0.004626	0.212493	0.704883	0.580156	0.2	false	false	true	false	false	false	false	false	false	0	1,800	1,029	0
0.03774	0.007707	0.034998	0.056347	0.28116	1	true	true	true	true	true	true	false	false	false	0	1,800	1,030	0
0.315137	0.030422	0.030422	0.352845	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,031	0
0.01678	0.001188	0.391038	0.379584	0.105017	0	false	false	true	false	false	false	false	false	false	0	1,800	1,032	0
0.018488	0.017293	0.393745	0.103843	0.071046	0	false	false	true	false	false	false	false	false	false	0	1,800	1,033	0
0.003589	0.016257	0.372286	0.477994	0.029754	0	false	false	true	false	false	false	false	false	false	0	1,800	1,034	0
0.019151	0.036084	0.062255	0.032578	0.259227	0.825	true	true	true	true	true	true	false	false	false	0	1,800	1,035	0
0.342902	0.04782	0.04782	0.419513	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,036	0
0.366898	0.034138	0.25511	0.364657	0.315788	0.325	false	false	false	false	false	false	false	false	true	79	1,800	1,037	0
0.364676	0.034951	0.034951	0.45505	0.064056	0	true	false	false	false	false	false	false	false	false	0	1,800	1,038	0
0.304484	0.032777	0.602285	0.044496	0.268059	1	false	true	false	true	false	false	false	false	false	0	1,800	1,039	0
0.276794	0.015875	0.016068	0.481758	0.033341	0	true	false	false	false	false	false	false	false	false	0	1,800	1,040	0
0.004853	0.015895	0.021322	0.511183	0.439674	0	true	false	true	false	false	false	false	false	true	40	1,800	1,041	0
0.017043	0.001933	0.353967	0.360556	0.236963	0	false	false	true	false	false	false	false	false	false	0	1,800	1,042	0
0.008893	0.025893	0.042358	0.028384	0.291679	1	true	true	true	true	true	true	false	false	false	0	1,800	1,043	0
0.031861	0.011461	0.061999	1.084562	0.337032	0	true	false	true	false	false	false	false	false	false	0	1,800	1,044	0
0.336353	0.024598	0.127292	1.016254	0.186148	0	false	false	false	false	false	false	false	false	false	0	1,800	1,045	0
0.296721	0.047958	0.047958	0.383125	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,046	0
0.393149	0.046573	0.107697	0.360643	0.275346	0.1	false	false	false	false	false	false	false	false	false	0	1,800	1,047	0
0.043148	0.018962	0.101125	0.347795	0.292563	0.85	false	false	true	true	false	false	false	false	false	0	1,800	1,048	0
0.392759	0.058289	0.124658	0.499781	0.070813	0	false	false	false	false	false	false	false	false	false	0	1,800	1,049	0
0.283515	0.010165	0.038402	0.146948	0.108827	0	true	false	false	false	false	false	false	false	false	0	1,800	1,000	1
0.08005	0.009079	0.048126	0.033877	0.344753	0.975	true	true	false	true	false	false	false	false	false	0	1,800	1,001	1
0.02872	0.014009	0.377437	0.14895	0.300175	0.225	false	false	true	false	false	false	false	false	false	0	1,800	1,002	1
0.055051	0.007447	0.07314	0.236325	0.276609	0.625	true	false	true	false	false	false	false	false	false	0	1,800	1,003	1
0.305085	0.043727	0.043727	0.426623	0.00735	0	true	false	false	false	false	false	false	false	false	0	1,800	1,004	1
0.281133	0.058593	0.058593	0.407493	0.048192	0	true	false	false	false	false	false	false	false	false	0	1,800	1,005	1
0.258477	0.009748	0.012435	0.48619	0.000248	0	true	false	false	false	false	false	false	false	false	0	1,800	1,006	1
0.056659	0.01233	0.25808	0.036303	0.285371	0.725	false	true	true	false	false	false	false	false	false	0	1,800	1,007	1
0.339284	0.061229	0.149077	0.32535	0.200312	0	false	false	false	false	false	false	false	false	false	0	1,800	1,008	1
0.016962	0.020583	0.285436	0.443561	0.022858	0	false	false	true	false	false	false	false	false	false	0	1,800	1,009	1
0.361817	0.038169	0.038169	0.410073	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,010	1
0.011032	0.013958	0.030449	0.074086	0.269092	0.825	true	true	true	true	true	true	false	false	false	0	1,800	1,011	1
0.013436	0.007126	0.308054	0.465451	0.011692	0	false	false	true	false	false	false	false	false	false	0	1,800	1,012	1
0.295064	0.005944	0.011597	0.381311	0.098212	0	true	false	false	false	false	false	false	false	false	0	1,800	1,013	1
0.327348	0.049539	0.219782	0.248111	0.232387	0	false	false	false	false	false	false	false	false	true	4	1,800	1,014	1
0.037715	0.006086	0.034101	0.044188	0.306226	0.925	true	true	true	true	true	true	false	false	false	0	1,800	1,015	1
0.360682	0.040231	0.040231	0.379787	0.045194	0	true	false	false	false	false	false	false	false	false	0	1,800	1,016	1
0.383202	0.066175	0.066175	0.406637	0.018071	0	true	false	false	false	false	false	false	false	false	0	1,800	1,017	1
0.009	0.039295	0.260002	0.497282	0.013802	0	false	false	true	false	false	false	false	false	false	0	1,800	1,018	1
0.292309	0.0089	0.00992	0.457555	0.038933	0	true	false	false	false	false	false	false	false	false	0	1,800	1,019	1
0.332414	0.019387	0.019387	0.137901	0.183052	0	true	false	false	false	false	false	false	false	true	1	1,800	1,020	1
0.004046	0.04104	0.239235	0.478237	0.019335	0	false	false	true	false	false	false	false	false	false	0	1,800	1,021	1
0.01139	0.034591	0.403484	0.432283	0.029398	0	false	false	true	false	false	false	false	false	false	0	1,800	1,022	1
0.282107	0.038342	0.090479	0.465203	0.076028	0	false	false	false	false	false	false	false	false	false	0	1,800	1,023	1
0.19417	0.04139	0.172067	0.379924	0.346115	0	false	false	false	false	false	false	false	false	true	879	1,800	1,024	1
0.315014	0.002108	0.006301	0.556592	0.019856	0	true	false	false	false	false	false	false	false	false	0	1,800	1,025	1
0.371486	0.041536	0.04873	0.532438	0.078986	0	true	false	false	false	false	false	false	false	false	0	1,800	1,026	1
0.289934	0.003951	0.203141	0.258024	0.274464	0.525	false	false	false	false	false	false	false	false	true	29	1,800	1,027	1
0.046074	0.011359	0.346211	0.405225	0.061805	0	false	false	true	false	false	false	false	false	false	0	1,800	1,028	1
0.021738	0.010196	0.22768	0.358866	0.098132	0	false	false	true	false	false	false	false	false	false	0	1,800	1,029	1
0.071509	0.01105	0.327669	0.439241	0.036876	0	false	false	true	false	false	false	false	false	false	0	1,800	1,030	1
0.315137	0.030422	0.030422	0.39802	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,031	1
0.056354	0.009212	0.380157	0.381254	0.109981	0	false	false	true	false	false	false	false	false	false	0	1,800	1,032	1
0.055647	0.010231	0.228466	0.245893	0.262131	0.7	false	false	true	false	false	false	false	false	true	54	1,800	1,033	1
0.022665	0.026804	0.058897	0.085489	0.304761	0.8	true	true	true	true	true	true	false	false	false	0	1,800	1,034	1
0.032856	0.038027	0.313726	0.46397	0.01449	0	false	false	true	false	false	false	false	false	false	0	1,800	1,035	1
0.342902	0.04782	0.04782	0.38608	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,036	1
0.037838	0.029182	0.071323	0.225737	0.243479	0.65	true	false	true	false	false	false	false	false	true	742	1,800	1,037	1
0.363748	0.031173	0.032992	0.360271	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,038	1
0.002382	0.029558	0.31819	0.382354	0	0	false	false	true	false	false	false	false	false	false	0	1,800	1,039	1
0.276794	0.023375	0.023947	0.416803	0.021236	0	true	false	false	false	false	false	false	false	false	0	1,800	1,040	1
0.003441	0.022371	0.0235	0.056446	0.263836	0.925	true	true	true	true	true	true	false	false	false	0	1,800	1,041	1
0.263931	0.039934	0.040062	0.396409	0.010939	0	true	false	false	false	false	false	false	false	false	0	1,800	1,042	1
0.039763	0.03594	0.327961	0.375125	0.152519	0	false	false	true	false	false	false	false	false	false	0	1,800	1,043	1
0.305717	0.056366	0.056366	0.307102	0.122951	0	true	false	false	false	false	false	false	false	false	0	1,800	1,044	1
0.330648	0.015976	0.015978	0.455491	0.022731	0	true	false	false	false	false	false	false	false	false	0	1,800	1,045	1
0.296721	0.047958	0.047958	0.451645	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,046	1
0.393956	0.047377	0.047377	0.422566	0	0	true	false	false	false	false	false	false	false	false	0	1,800	1,047	1
0.085397	0.010223	0.362698	0.437081	0.061294	0	false	false	false	false	false	false	false	false	false	0	1,800	1,048	1
0.1894	0.006117	0.1972	0.344383	0.270205	0	false	false	false	false	false	false	false	false	true	1,173	1,800	1,049	1

End of preview. Expand in Data Studio

ALTER simulation data card

Authors: Dayi Dong, Maulik Bhatt, Aayushi Shrivastava, Lasse Peters, Negar Mehr.

The pretraining selection contains 400 demonstrations: 200 place-return and 200 wipe. Adaptation includes 60 selected multi-arm demonstrations and 60 distilled single-arm rollouts at the largest budget. Nested manifests retain 20+20, 40+40, and 60+60 membership, mode grouping and ordering. FT-multi omits the single-arm adaptation domain. Counts exclude base-policy pretraining.

Data and provenance retain distinct namespaces. Portable manifests use logical artifact references; materialization checks checksums and preserves list order. Do not rerank examples from relocated absolute paths. Original private records remain retained separately, and exports record original and export hashes.

Use only with the matching model/preprocessing, camera and action conventions in the release source. Data are trusted Python pickle artifacts, not a safe format for arbitrary untrusted downloads. Hardware recordings are released separately under hardware/v1/; scored physical-trial evidence is not included. Original ALTER demonstrations, replay and accompanying original records are released under CC BY 4.0; see LICENSE and NOTICE. Third-party software, assets and the paper retain their separate terms.

The provenance bundle contains selected evaluation/selection evidence, not new experimental results. The original base-training contract is absent, and the FT-mixed selection-panel wording requires author review. No complete paper retraining or full evaluation rerun is claimed by preparation tests.

See USAGE.md for downloads and the accompanying code release status.

Paper: Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand.

Hardware v1

Selected hardware models, source data and exact prepared caches are now available under hardware/v1. See the hardware download guide for the separate pinned manifest, selective downloads and offline validation. Simulation payloads and their pinned revisions remain unchanged.

Downloads last month: 176

Paper for Berkeley-ICON-Lab/ALTER-data

Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand

Paper • 2609.32129 • Published 3 days ago