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Datasets:
DJ-Research
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WM-data

Tasks:
Robotics
Modalities:
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Size:
1M - 10M
Tags:
LeRobot
world-models
distribution-shift
simulation
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WM-data / README.md
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metadata 
license: other
task_categories:
  - robotics
tags:
  - LeRobot
  - world-models
  - distribution-shift
  - simulation
configs:
  - config_name: franka-train-nominal
    data_files:
      - split: L0
        path: franka/train/nominal/L0/data/**/*.parquet
  - config_name: franka-val-nominal
    data_files:
      - split: L0
        path: franka/val/nominal/L0/data/**/*.parquet
  - config_name: franka-adapt-base_pose
    data_files:
      - split: L1
        path: franka/adapt/base_pose/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt/base_pose/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt/base_pose/L3/data/**/*.parquet
  - config_name: franka-adapt-camera_fov
    data_files:
      - split: L1
        path: franka/adapt/camera_fov/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt/camera_fov/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt/camera_fov/L3/data/**/*.parquet
  - config_name: franka-adapt-camera_shift
    data_files:
      - split: L1
        path: franka/adapt/camera_shift/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt/camera_shift/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt/camera_shift/L3/data/**/*.parquet
  - config_name: franka-adapt-frame_rotation
    data_files:
      - split: L1
        path: franka/adapt/frame_rotation/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt/frame_rotation/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt/frame_rotation/L3/data/**/*.parquet
  - config_name: franka-adapt-light_direction
    data_files:
      - split: L1
        path: franka/adapt/light_direction/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt/light_direction/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt/light_direction/L3/data/**/*.parquet
  - config_name: franka-adapt-light_flicker
    data_files:
      - split: L1
        path: franka/adapt/light_flicker/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt/light_flicker/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt/light_flicker/L3/data/**/*.parquet
  - config_name: franka-adapt_val-base_pose
    data_files:
      - split: L1
        path: franka/adapt_val/base_pose/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt_val/base_pose/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt_val/base_pose/L3/data/**/*.parquet
  - config_name: franka-adapt_val-camera_fov
    data_files:
      - split: L1
        path: franka/adapt_val/camera_fov/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt_val/camera_fov/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt_val/camera_fov/L3/data/**/*.parquet
  - config_name: franka-adapt_val-camera_shift
    data_files:
      - split: L1
        path: franka/adapt_val/camera_shift/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt_val/camera_shift/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt_val/camera_shift/L3/data/**/*.parquet
  - config_name: franka-adapt_val-frame_rotation
    data_files:
      - split: L1
        path: franka/adapt_val/frame_rotation/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt_val/frame_rotation/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt_val/frame_rotation/L3/data/**/*.parquet
  - config_name: franka-adapt_val-light_direction
    data_files:
      - split: L1
        path: franka/adapt_val/light_direction/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt_val/light_direction/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt_val/light_direction/L3/data/**/*.parquet
  - config_name: franka-adapt_val-light_flicker
    data_files:
      - split: L1
        path: franka/adapt_val/light_flicker/L1/data/**/*.parquet
      - split: L2
        path: franka/adapt_val/light_flicker/L2/data/**/*.parquet
      - split: L3
        path: franka/adapt_val/light_flicker/L3/data/**/*.parquet
  - config_name: franka-oracle-camera_orientation
    data_files:
      - split: L1
        path: franka/oracle/camera_orientation/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle/camera_orientation/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle/camera_orientation/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle/camera_orientation/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle/camera_orientation/L5/data/**/*.parquet
  - config_name: franka-oracle-colour_temperature
    data_files:
      - split: L1
        path: franka/oracle/colour_temperature/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle/colour_temperature/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle/colour_temperature/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle/colour_temperature/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle/colour_temperature/L5/data/**/*.parquet
  - config_name: franka-oracle-distractors
    data_files:
      - split: L1
        path: franka/oracle/distractors/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle/distractors/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle/distractors/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle/distractors/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle/distractors/L5/data/**/*.parquet
  - config_name: franka-oracle-latency
    data_files:
      - split: L1
        path: franka/oracle/latency/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle/latency/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle/latency/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle/latency/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle/latency/L5/data/**/*.parquet
  - config_name: franka-oracle-table_height
    data_files:
      - split: L1
        path: franka/oracle/table_height/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle/table_height/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle/table_height/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle/table_height/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle/table_height/L5/data/**/*.parquet
  - config_name: franka-oracle_val-camera_orientation
    data_files:
      - split: L1
        path: franka/oracle_val/camera_orientation/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle_val/camera_orientation/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle_val/camera_orientation/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle_val/camera_orientation/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle_val/camera_orientation/L5/data/**/*.parquet
  - config_name: franka-oracle_val-colour_temperature
    data_files:
      - split: L1
        path: franka/oracle_val/colour_temperature/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle_val/colour_temperature/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle_val/colour_temperature/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle_val/colour_temperature/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle_val/colour_temperature/L5/data/**/*.parquet
  - config_name: franka-oracle_val-distractors
    data_files:
      - split: L1
        path: franka/oracle_val/distractors/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle_val/distractors/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle_val/distractors/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle_val/distractors/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle_val/distractors/L5/data/**/*.parquet
  - config_name: franka-oracle_val-latency
    data_files:
      - split: L1
        path: franka/oracle_val/latency/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle_val/latency/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle_val/latency/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle_val/latency/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle_val/latency/L5/data/**/*.parquet
  - config_name: franka-oracle_val-table_height
    data_files:
      - split: L1
        path: franka/oracle_val/table_height/L1/data/**/*.parquet
      - split: L2
        path: franka/oracle_val/table_height/L2/data/**/*.parquet
      - split: L3
        path: franka/oracle_val/table_height/L3/data/**/*.parquet
      - split: L4
        path: franka/oracle_val/table_height/L4/data/**/*.parquet
      - split: L5
        path: franka/oracle_val/table_height/L5/data/**/*.parquet
  - config_name: franka-eval-base_pose
    data_files:
      - split: L1
        path: franka/eval/base_pose/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/base_pose/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/base_pose/L3/data/**/*.parquet
  - config_name: franka-eval-camera_fov
    data_files:
      - split: L1
        path: franka/eval/camera_fov/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/camera_fov/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/camera_fov/L3/data/**/*.parquet
  - config_name: franka-eval-camera_orientation
    data_files:
      - split: L1
        path: franka/eval/camera_orientation/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/camera_orientation/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/camera_orientation/L3/data/**/*.parquet
      - split: L4
        path: franka/eval/camera_orientation/L4/data/**/*.parquet
      - split: L5
        path: franka/eval/camera_orientation/L5/data/**/*.parquet
  - config_name: franka-eval-camera_shift
    data_files:
      - split: L1
        path: franka/eval/camera_shift/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/camera_shift/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/camera_shift/L3/data/**/*.parquet
  - config_name: franka-eval-colour_temperature
    data_files:
      - split: L1
        path: franka/eval/colour_temperature/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/colour_temperature/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/colour_temperature/L3/data/**/*.parquet
      - split: L4
        path: franka/eval/colour_temperature/L4/data/**/*.parquet
      - split: L5
        path: franka/eval/colour_temperature/L5/data/**/*.parquet
  - config_name: franka-eval-distractors
    data_files:
      - split: L1
        path: franka/eval/distractors/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/distractors/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/distractors/L3/data/**/*.parquet
      - split: L4
        path: franka/eval/distractors/L4/data/**/*.parquet
      - split: L5
        path: franka/eval/distractors/L5/data/**/*.parquet
  - config_name: franka-eval-frame_rotation
    data_files:
      - split: L1
        path: franka/eval/frame_rotation/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/frame_rotation/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/frame_rotation/L3/data/**/*.parquet
  - config_name: franka-eval-latency
    data_files:
      - split: L1
        path: franka/eval/latency/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/latency/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/latency/L3/data/**/*.parquet
      - split: L4
        path: franka/eval/latency/L4/data/**/*.parquet
      - split: L5
        path: franka/eval/latency/L5/data/**/*.parquet
  - config_name: franka-eval-light_direction
    data_files:
      - split: L1
        path: franka/eval/light_direction/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/light_direction/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/light_direction/L3/data/**/*.parquet
  - config_name: franka-eval-light_flicker
    data_files:
      - split: L1
        path: franka/eval/light_flicker/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/light_flicker/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/light_flicker/L3/data/**/*.parquet
  - config_name: franka-eval-nominal
    data_files:
      - split: L0
        path: franka/eval/nominal/L0/data/**/*.parquet
  - config_name: franka-eval-table_height
    data_files:
      - split: L1
        path: franka/eval/table_height/L1/data/**/*.parquet
      - split: L2
        path: franka/eval/table_height/L2/data/**/*.parquet
      - split: L3
        path: franka/eval/table_height/L3/data/**/*.parquet
      - split: L4
        path: franka/eval/table_height/L4/data/**/*.parquet
      - split: L5
        path: franka/eval/table_height/L5/data/**/*.parquet
  - config_name: widowx-train-nominal
    data_files:
      - split: L0
        path: widowx/train/nominal/L0/data/**/*.parquet
  - config_name: widowx-val-nominal
    data_files:
      - split: L0
        path: widowx/val/nominal/L0/data/**/*.parquet
  - config_name: widowx-adapt-base_pose
    data_files:
      - split: L1
        path: widowx/adapt/base_pose/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt/base_pose/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt/base_pose/L3/data/**/*.parquet
  - config_name: widowx-adapt-camera_fov
    data_files:
      - split: L1
        path: widowx/adapt/camera_fov/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt/camera_fov/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt/camera_fov/L3/data/**/*.parquet
  - config_name: widowx-adapt-camera_shift
    data_files:
      - split: L1
        path: widowx/adapt/camera_shift/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt/camera_shift/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt/camera_shift/L3/data/**/*.parquet
  - config_name: widowx-adapt-frame_rotation
    data_files:
      - split: L1
        path: widowx/adapt/frame_rotation/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt/frame_rotation/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt/frame_rotation/L3/data/**/*.parquet
  - config_name: widowx-adapt-light_direction
    data_files:
      - split: L1
        path: widowx/adapt/light_direction/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt/light_direction/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt/light_direction/L3/data/**/*.parquet
  - config_name: widowx-adapt-light_flicker
    data_files:
      - split: L1
        path: widowx/adapt/light_flicker/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt/light_flicker/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt/light_flicker/L3/data/**/*.parquet
  - config_name: widowx-adapt_val-base_pose
    data_files:
      - split: L1
        path: widowx/adapt_val/base_pose/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt_val/base_pose/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt_val/base_pose/L3/data/**/*.parquet
  - config_name: widowx-adapt_val-camera_fov
    data_files:
      - split: L1
        path: widowx/adapt_val/camera_fov/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt_val/camera_fov/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt_val/camera_fov/L3/data/**/*.parquet
  - config_name: widowx-adapt_val-camera_shift
    data_files:
      - split: L1
        path: widowx/adapt_val/camera_shift/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt_val/camera_shift/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt_val/camera_shift/L3/data/**/*.parquet
  - config_name: widowx-adapt_val-frame_rotation
    data_files:
      - split: L1
        path: widowx/adapt_val/frame_rotation/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt_val/frame_rotation/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt_val/frame_rotation/L3/data/**/*.parquet
  - config_name: widowx-adapt_val-light_direction
    data_files:
      - split: L1
        path: widowx/adapt_val/light_direction/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt_val/light_direction/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt_val/light_direction/L3/data/**/*.parquet
  - config_name: widowx-adapt_val-light_flicker
    data_files:
      - split: L1
        path: widowx/adapt_val/light_flicker/L1/data/**/*.parquet
      - split: L2
        path: widowx/adapt_val/light_flicker/L2/data/**/*.parquet
      - split: L3
        path: widowx/adapt_val/light_flicker/L3/data/**/*.parquet
  - config_name: widowx-oracle-camera_orientation
    data_files:
      - split: L1
        path: widowx/oracle/camera_orientation/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle/camera_orientation/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle/camera_orientation/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle/camera_orientation/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle/camera_orientation/L5/data/**/*.parquet
  - config_name: widowx-oracle-colour_temperature
    data_files:
      - split: L1
        path: widowx/oracle/colour_temperature/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle/colour_temperature/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle/colour_temperature/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle/colour_temperature/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle/colour_temperature/L5/data/**/*.parquet
  - config_name: widowx-oracle-distractors
    data_files:
      - split: L1
        path: widowx/oracle/distractors/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle/distractors/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle/distractors/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle/distractors/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle/distractors/L5/data/**/*.parquet
  - config_name: widowx-oracle-latency
    data_files:
      - split: L1
        path: widowx/oracle/latency/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle/latency/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle/latency/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle/latency/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle/latency/L5/data/**/*.parquet
  - config_name: widowx-oracle-table_height
    data_files:
      - split: L1
        path: widowx/oracle/table_height/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle/table_height/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle/table_height/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle/table_height/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle/table_height/L5/data/**/*.parquet
  - config_name: widowx-oracle_val-camera_orientation
    data_files:
      - split: L1
        path: widowx/oracle_val/camera_orientation/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle_val/camera_orientation/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle_val/camera_orientation/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle_val/camera_orientation/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle_val/camera_orientation/L5/data/**/*.parquet
  - config_name: widowx-oracle_val-colour_temperature
    data_files:
      - split: L1
        path: widowx/oracle_val/colour_temperature/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle_val/colour_temperature/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle_val/colour_temperature/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle_val/colour_temperature/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle_val/colour_temperature/L5/data/**/*.parquet
  - config_name: widowx-oracle_val-distractors
    data_files:
      - split: L1
        path: widowx/oracle_val/distractors/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle_val/distractors/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle_val/distractors/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle_val/distractors/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle_val/distractors/L5/data/**/*.parquet
  - config_name: widowx-oracle_val-latency
    data_files:
      - split: L1
        path: widowx/oracle_val/latency/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle_val/latency/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle_val/latency/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle_val/latency/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle_val/latency/L5/data/**/*.parquet
  - config_name: widowx-oracle_val-table_height
    data_files:
      - split: L1
        path: widowx/oracle_val/table_height/L1/data/**/*.parquet
      - split: L2
        path: widowx/oracle_val/table_height/L2/data/**/*.parquet
      - split: L3
        path: widowx/oracle_val/table_height/L3/data/**/*.parquet
      - split: L4
        path: widowx/oracle_val/table_height/L4/data/**/*.parquet
      - split: L5
        path: widowx/oracle_val/table_height/L5/data/**/*.parquet
  - config_name: widowx-eval-base_pose
    data_files:
      - split: L1
        path: widowx/eval/base_pose/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/base_pose/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/base_pose/L3/data/**/*.parquet
  - config_name: widowx-eval-camera_fov
    data_files:
      - split: L1
        path: widowx/eval/camera_fov/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/camera_fov/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/camera_fov/L3/data/**/*.parquet
  - config_name: widowx-eval-camera_orientation
    data_files:
      - split: L1
        path: widowx/eval/camera_orientation/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/camera_orientation/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/camera_orientation/L3/data/**/*.parquet
      - split: L4
        path: widowx/eval/camera_orientation/L4/data/**/*.parquet
      - split: L5
        path: widowx/eval/camera_orientation/L5/data/**/*.parquet
  - config_name: widowx-eval-camera_shift
    data_files:
      - split: L1
        path: widowx/eval/camera_shift/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/camera_shift/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/camera_shift/L3/data/**/*.parquet
  - config_name: widowx-eval-colour_temperature
    data_files:
      - split: L1
        path: widowx/eval/colour_temperature/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/colour_temperature/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/colour_temperature/L3/data/**/*.parquet
      - split: L4
        path: widowx/eval/colour_temperature/L4/data/**/*.parquet
      - split: L5
        path: widowx/eval/colour_temperature/L5/data/**/*.parquet
  - config_name: widowx-eval-distractors
    data_files:
      - split: L1
        path: widowx/eval/distractors/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/distractors/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/distractors/L3/data/**/*.parquet
      - split: L4
        path: widowx/eval/distractors/L4/data/**/*.parquet
      - split: L5
        path: widowx/eval/distractors/L5/data/**/*.parquet
  - config_name: widowx-eval-frame_rotation
    data_files:
      - split: L1
        path: widowx/eval/frame_rotation/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/frame_rotation/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/frame_rotation/L3/data/**/*.parquet
  - config_name: widowx-eval-latency
    data_files:
      - split: L1
        path: widowx/eval/latency/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/latency/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/latency/L3/data/**/*.parquet
      - split: L4
        path: widowx/eval/latency/L4/data/**/*.parquet
      - split: L5
        path: widowx/eval/latency/L5/data/**/*.parquet
  - config_name: widowx-eval-light_direction
    data_files:
      - split: L1
        path: widowx/eval/light_direction/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/light_direction/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/light_direction/L3/data/**/*.parquet
  - config_name: widowx-eval-light_flicker
    data_files:
      - split: L1
        path: widowx/eval/light_flicker/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/light_flicker/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/light_flicker/L3/data/**/*.parquet
  - config_name: widowx-eval-nominal
    data_files:
      - split: L0
        path: widowx/eval/nominal/L0/data/**/*.parquet
  - config_name: widowx-eval-table_height
    data_files:
      - split: L1
        path: widowx/eval/table_height/L1/data/**/*.parquet
      - split: L2
        path: widowx/eval/table_height/L2/data/**/*.parquet
      - split: L3
        path: widowx/eval/table_height/L3/data/**/*.parquet
      - split: L4
        path: widowx/eval/table_height/L4/data/**/*.parquet
      - split: L5
        path: widowx/eval/table_height/L5/data/**/*.parquet

WM-data: robot world-model data under distribution shift

Simulated robot video with actions, for training and evaluating action-conditioned world models, and for studying how they adapt to shifts in the environment. Two robots: a Franka arm in LIBERO (MuJoCo) and a WidowX arm in SimplerEnv (SAPIEN). Every folder <robot>/<pool>/<shift>/L<k> is a self-contained LeRobot v3 dataset (meta/, data/ parquet, videos/ mp4).

54,017 episodes, 6,194,106 frames in total.

Layout

  • <robot>/train/nominal/L0, <robot>/val/nominal/L0: nominal (unshifted) training data and the early-stopping set.
  • <robot>/<pool>/<shift>/L<k>: the shift-adaptation study, shift <shift> at severity level k (1 = mildest).
    • adapt / adapt_val: 6 shift types at levels 1-3 (training starts / validation starts).
    • oracle / oracle_val: 5 shift types at levels 1-5 (plentiful shifted data: an upper bound on adaptation).
    • eval: held-out test starts for every adapt and oracle cell plus nominal; each test group starts five policy rollouts (five action-noise levels) from one identical state, and the same groups appear in every cell.

Each episode's frames carry its provenance in rs.* columns (policy, source, noise level, shift, level, start, ...).

Downloading parts

Each subset below is one <robot>-<pool>-<shift> folder; its splits are the levels. Tabular data only (actions, states, indices, metadata; no video):

from datasets import load_dataset
ds = load_dataset("DJ-Research/WM-data", "franka-oracle-distractors", split="L5")

Full LeRobot datasets with video, at any granularity (a level, a shift, a pool, a robot):

from huggingface_hub import snapshot_download
root = snapshot_download("DJ-Research/WM-data", repo_type="dataset",
                         allow_patterns="franka/oracle/distractors/L5/**")
# from lerobot.datasets.lerobot_dataset import LeRobotDataset
# ds = LeRobotDataset("WM-data", root=f"{root}/franka/oracle/distractors/L5")

Subsets

subset splits (levels) episodes hours
franka-train-nominal L0 807 2.05
franka-val-nominal L0 141 0.46
franka-adapt-base_pose L1, L2, L3 2,290 5.90
franka-adapt-camera_fov L1, L2, L3 2,318 5.99
franka-adapt-camera_shift L1, L2, L3 2,349 5.90
franka-adapt-frame_rotation L1, L2, L3 2,087 5.91
franka-adapt-light_direction L1, L2, L3 2,394 5.95
franka-adapt-light_flicker L1, L2, L3 2,342 5.90
franka-adapt_val-base_pose L1, L2, L3 273 0.76
franka-adapt_val-camera_fov L1, L2, L3 278 0.76
franka-adapt_val-camera_shift L1, L2, L3 286 0.76
franka-adapt_val-frame_rotation L1, L2, L3 257 0.77
franka-adapt_val-light_direction L1, L2, L3 290 0.76
franka-adapt_val-light_flicker L1, L2, L3 291 0.76
franka-oracle-camera_orientation L1, L2, L3, L4, L5 3,610 9.92
franka-oracle-colour_temperature L1, L2, L3, L4, L5 3,955 9.80
franka-oracle-distractors L1, L2, L3, L4, L5 3,659 10.02
franka-oracle-latency L1, L2, L3, L4, L5 3,056 10.05
franka-oracle-table_height L1, L2, L3, L4, L5 4,123 9.80
franka-oracle_val-camera_orientation L1, L2, L3, L4, L5 431 1.27
franka-oracle_val-colour_temperature L1, L2, L3, L4, L5 474 1.27
franka-oracle_val-distractors L1, L2, L3, L4, L5 444 1.27
franka-oracle_val-latency L1, L2, L3, L4, L5 375 1.27
franka-oracle_val-table_height L1, L2, L3, L4, L5 483 1.27
franka-eval-base_pose L1, L2, L3 240 0.81
franka-eval-camera_fov L1, L2, L3 240 0.77
franka-eval-camera_orientation L1, L2, L3, L4, L5 400 1.39
franka-eval-camera_shift L1, L2, L3 240 0.76
franka-eval-colour_temperature L1, L2, L3, L4, L5 400 1.26
franka-eval-distractors L1, L2, L3, L4, L5 400 1.40
franka-eval-frame_rotation L1, L2, L3 240 0.86
franka-eval-latency L1, L2, L3, L4, L5 400 1.63
franka-eval-light_direction L1, L2, L3 240 0.75
franka-eval-light_flicker L1, L2, L3 240 0.74
franka-eval-nominal L0 80 0.24
franka-eval-table_height L1, L2, L3, L4, L5 400 1.22
widowx-train-nominal L0 249 2.16
widowx-val-nominal L0 36 0.49
widowx-adapt-base_pose L1, L2, L3 680 5.99
widowx-adapt-camera_fov L1, L2, L3 727 6.04
widowx-adapt-camera_shift L1, L2, L3 656 5.99
widowx-adapt-frame_rotation L1, L2, L3 724 6.04
widowx-adapt-light_direction L1, L2, L3 719 6.06
widowx-adapt-light_flicker L1, L2, L3 745 6.07
widowx-adapt_val-base_pose L1, L2, L3 96 0.80
widowx-adapt_val-camera_fov L1, L2, L3 92 0.78
widowx-adapt_val-camera_shift L1, L2, L3 92 0.78
widowx-adapt_val-frame_rotation L1, L2, L3 89 0.79
widowx-adapt_val-light_direction L1, L2, L3 92 0.80
widowx-adapt_val-light_flicker L1, L2, L3 91 0.79
widowx-oracle-camera_orientation L1, L2, L3, L4, L5 1,167 10.10
widowx-oracle-colour_temperature L1, L2, L3, L4, L5 1,227 10.08
widowx-oracle-distractors L1, L2, L3, L4, L5 1,227 10.01
widowx-oracle-latency L1, L2, L3, L4, L5 1,124 10.10
widowx-oracle-table_height L1, L2, L3, L4, L5 1,121 10.13
widowx-oracle_val-camera_orientation L1, L2, L3, L4, L5 151 1.30
widowx-oracle_val-colour_temperature L1, L2, L3, L4, L5 156 1.33
widowx-oracle_val-distractors L1, L2, L3, L4, L5 157 1.33
widowx-oracle_val-latency L1, L2, L3, L4, L5 160 1.32
widowx-oracle_val-table_height L1, L2, L3, L4, L5 146 1.31
widowx-eval-base_pose L1, L2, L3 120 1.60
widowx-eval-camera_fov L1, L2, L3 120 1.47
widowx-eval-camera_orientation L1, L2, L3, L4, L5 200 2.83
widowx-eval-camera_shift L1, L2, L3 120 1.50
widowx-eval-colour_temperature L1, L2, L3, L4, L5 200 2.50
widowx-eval-distractors L1, L2, L3, L4, L5 200 2.41
widowx-eval-frame_rotation L1, L2, L3 120 1.44
widowx-eval-latency L1, L2, L3, L4, L5 200 2.80
widowx-eval-light_direction L1, L2, L3 120 1.41
widowx-eval-light_flicker L1, L2, L3 120 1.46
widowx-eval-nominal L0 40 0.49
widowx-eval-table_height L1, L2, L3, L4, L5 200 2.88