| --- |
| 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](https://github.com/huggingface/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): |
|
|
| ```python |
| 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): |
|
|
| ```python |
| 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 | |
|
|
