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Datasets:
DJ-Research
/
WM-data

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
1M - 10M
Tags:
LeRobot
world-models
distribution-shift
simulation
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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Dhananjay99 commited on
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Dataset card

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1
+ ---
2
+ license: other
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ - world-models
8
+ - distribution-shift
9
+ - simulation
10
+ configs:
11
+ - config_name: franka-train-nominal
12
+ data_files:
13
+ - split: L0
14
+ path: franka/train/nominal/L0/data/**/*.parquet
15
+ - config_name: franka-val-nominal
16
+ data_files:
17
+ - split: L0
18
+ path: franka/val/nominal/L0/data/**/*.parquet
19
+ - config_name: franka-adapt-base_pose
20
+ data_files:
21
+ - split: L1
22
+ path: franka/adapt/base_pose/L1/data/**/*.parquet
23
+ - split: L2
24
+ path: franka/adapt/base_pose/L2/data/**/*.parquet
25
+ - split: L3
26
+ path: franka/adapt/base_pose/L3/data/**/*.parquet
27
+ - config_name: franka-adapt-camera_fov
28
+ data_files:
29
+ - split: L1
30
+ path: franka/adapt/camera_fov/L1/data/**/*.parquet
31
+ - split: L2
32
+ path: franka/adapt/camera_fov/L2/data/**/*.parquet
33
+ - split: L3
34
+ path: franka/adapt/camera_fov/L3/data/**/*.parquet
35
+ - config_name: franka-adapt-camera_shift
36
+ data_files:
37
+ - split: L1
38
+ path: franka/adapt/camera_shift/L1/data/**/*.parquet
39
+ - split: L2
40
+ path: franka/adapt/camera_shift/L2/data/**/*.parquet
41
+ - split: L3
42
+ path: franka/adapt/camera_shift/L3/data/**/*.parquet
43
+ - config_name: franka-adapt-frame_rotation
44
+ data_files:
45
+ - split: L1
46
+ path: franka/adapt/frame_rotation/L1/data/**/*.parquet
47
+ - split: L2
48
+ path: franka/adapt/frame_rotation/L2/data/**/*.parquet
49
+ - split: L3
50
+ path: franka/adapt/frame_rotation/L3/data/**/*.parquet
51
+ - config_name: franka-adapt-light_direction
52
+ data_files:
53
+ - split: L1
54
+ path: franka/adapt/light_direction/L1/data/**/*.parquet
55
+ - split: L2
56
+ path: franka/adapt/light_direction/L2/data/**/*.parquet
57
+ - split: L3
58
+ path: franka/adapt/light_direction/L3/data/**/*.parquet
59
+ - config_name: franka-adapt-light_flicker
60
+ data_files:
61
+ - split: L1
62
+ path: franka/adapt/light_flicker/L1/data/**/*.parquet
63
+ - split: L2
64
+ path: franka/adapt/light_flicker/L2/data/**/*.parquet
65
+ - split: L3
66
+ path: franka/adapt/light_flicker/L3/data/**/*.parquet
67
+ - config_name: franka-adapt_val-base_pose
68
+ data_files:
69
+ - split: L1
70
+ path: franka/adapt_val/base_pose/L1/data/**/*.parquet
71
+ - split: L2
72
+ path: franka/adapt_val/base_pose/L2/data/**/*.parquet
73
+ - split: L3
74
+ path: franka/adapt_val/base_pose/L3/data/**/*.parquet
75
+ - config_name: franka-adapt_val-camera_fov
76
+ data_files:
77
+ - split: L1
78
+ path: franka/adapt_val/camera_fov/L1/data/**/*.parquet
79
+ - split: L2
80
+ path: franka/adapt_val/camera_fov/L2/data/**/*.parquet
81
+ - split: L3
82
+ path: franka/adapt_val/camera_fov/L3/data/**/*.parquet
83
+ - config_name: franka-adapt_val-camera_shift
84
+ data_files:
85
+ - split: L1
86
+ path: franka/adapt_val/camera_shift/L1/data/**/*.parquet
87
+ - split: L2
88
+ path: franka/adapt_val/camera_shift/L2/data/**/*.parquet
89
+ - split: L3
90
+ path: franka/adapt_val/camera_shift/L3/data/**/*.parquet
91
+ - config_name: franka-adapt_val-frame_rotation
92
+ data_files:
93
+ - split: L1
94
+ path: franka/adapt_val/frame_rotation/L1/data/**/*.parquet
95
+ - split: L2
96
+ path: franka/adapt_val/frame_rotation/L2/data/**/*.parquet
97
+ - split: L3
98
+ path: franka/adapt_val/frame_rotation/L3/data/**/*.parquet
99
+ - config_name: franka-adapt_val-light_direction
100
+ data_files:
101
+ - split: L1
102
+ path: franka/adapt_val/light_direction/L1/data/**/*.parquet
103
+ - split: L2
104
+ path: franka/adapt_val/light_direction/L2/data/**/*.parquet
105
+ - split: L3
106
+ path: franka/adapt_val/light_direction/L3/data/**/*.parquet
107
+ - config_name: franka-adapt_val-light_flicker
108
+ data_files:
109
+ - split: L1
110
+ path: franka/adapt_val/light_flicker/L1/data/**/*.parquet
111
+ - split: L2
112
+ path: franka/adapt_val/light_flicker/L2/data/**/*.parquet
113
+ - split: L3
114
+ path: franka/adapt_val/light_flicker/L3/data/**/*.parquet
115
+ - config_name: franka-oracle-camera_orientation
116
+ data_files:
117
+ - split: L1
118
+ path: franka/oracle/camera_orientation/L1/data/**/*.parquet
119
+ - split: L2
120
+ path: franka/oracle/camera_orientation/L2/data/**/*.parquet
121
+ - split: L3
122
+ path: franka/oracle/camera_orientation/L3/data/**/*.parquet
123
+ - split: L4
124
+ path: franka/oracle/camera_orientation/L4/data/**/*.parquet
125
+ - split: L5
126
+ path: franka/oracle/camera_orientation/L5/data/**/*.parquet
127
+ - config_name: franka-oracle-colour_temperature
128
+ data_files:
129
+ - split: L1
130
+ path: franka/oracle/colour_temperature/L1/data/**/*.parquet
131
+ - split: L2
132
+ path: franka/oracle/colour_temperature/L2/data/**/*.parquet
133
+ - split: L3
134
+ path: franka/oracle/colour_temperature/L3/data/**/*.parquet
135
+ - split: L4
136
+ path: franka/oracle/colour_temperature/L4/data/**/*.parquet
137
+ - split: L5
138
+ path: franka/oracle/colour_temperature/L5/data/**/*.parquet
139
+ - config_name: franka-oracle-distractors
140
+ data_files:
141
+ - split: L1
142
+ path: franka/oracle/distractors/L1/data/**/*.parquet
143
+ - split: L2
144
+ path: franka/oracle/distractors/L2/data/**/*.parquet
145
+ - split: L3
146
+ path: franka/oracle/distractors/L3/data/**/*.parquet
147
+ - split: L4
148
+ path: franka/oracle/distractors/L4/data/**/*.parquet
149
+ - split: L5
150
+ path: franka/oracle/distractors/L5/data/**/*.parquet
151
+ - config_name: franka-oracle-latency
152
+ data_files:
153
+ - split: L1
154
+ path: franka/oracle/latency/L1/data/**/*.parquet
155
+ - split: L2
156
+ path: franka/oracle/latency/L2/data/**/*.parquet
157
+ - split: L3
158
+ path: franka/oracle/latency/L3/data/**/*.parquet
159
+ - split: L4
160
+ path: franka/oracle/latency/L4/data/**/*.parquet
161
+ - split: L5
162
+ path: franka/oracle/latency/L5/data/**/*.parquet
163
+ - config_name: franka-oracle-table_height
164
+ data_files:
165
+ - split: L1
166
+ path: franka/oracle/table_height/L1/data/**/*.parquet
167
+ - split: L2
168
+ path: franka/oracle/table_height/L2/data/**/*.parquet
169
+ - split: L3
170
+ path: franka/oracle/table_height/L3/data/**/*.parquet
171
+ - split: L4
172
+ path: franka/oracle/table_height/L4/data/**/*.parquet
173
+ - split: L5
174
+ path: franka/oracle/table_height/L5/data/**/*.parquet
175
+ - config_name: franka-oracle_val-camera_orientation
176
+ data_files:
177
+ - split: L1
178
+ path: franka/oracle_val/camera_orientation/L1/data/**/*.parquet
179
+ - split: L2
180
+ path: franka/oracle_val/camera_orientation/L2/data/**/*.parquet
181
+ - split: L3
182
+ path: franka/oracle_val/camera_orientation/L3/data/**/*.parquet
183
+ - split: L4
184
+ path: franka/oracle_val/camera_orientation/L4/data/**/*.parquet
185
+ - split: L5
186
+ path: franka/oracle_val/camera_orientation/L5/data/**/*.parquet
187
+ - config_name: franka-oracle_val-colour_temperature
188
+ data_files:
189
+ - split: L1
190
+ path: franka/oracle_val/colour_temperature/L1/data/**/*.parquet
191
+ - split: L2
192
+ path: franka/oracle_val/colour_temperature/L2/data/**/*.parquet
193
+ - split: L3
194
+ path: franka/oracle_val/colour_temperature/L3/data/**/*.parquet
195
+ - split: L4
196
+ path: franka/oracle_val/colour_temperature/L4/data/**/*.parquet
197
+ - split: L5
198
+ path: franka/oracle_val/colour_temperature/L5/data/**/*.parquet
199
+ - config_name: franka-oracle_val-distractors
200
+ data_files:
201
+ - split: L1
202
+ path: franka/oracle_val/distractors/L1/data/**/*.parquet
203
+ - split: L2
204
+ path: franka/oracle_val/distractors/L2/data/**/*.parquet
205
+ - split: L3
206
+ path: franka/oracle_val/distractors/L3/data/**/*.parquet
207
+ - split: L4
208
+ path: franka/oracle_val/distractors/L4/data/**/*.parquet
209
+ - split: L5
210
+ path: franka/oracle_val/distractors/L5/data/**/*.parquet
211
+ - config_name: franka-oracle_val-latency
212
+ data_files:
213
+ - split: L1
214
+ path: franka/oracle_val/latency/L1/data/**/*.parquet
215
+ - split: L2
216
+ path: franka/oracle_val/latency/L2/data/**/*.parquet
217
+ - split: L3
218
+ path: franka/oracle_val/latency/L3/data/**/*.parquet
219
+ - split: L4
220
+ path: franka/oracle_val/latency/L4/data/**/*.parquet
221
+ - split: L5
222
+ path: franka/oracle_val/latency/L5/data/**/*.parquet
223
+ - config_name: franka-oracle_val-table_height
224
+ data_files:
225
+ - split: L1
226
+ path: franka/oracle_val/table_height/L1/data/**/*.parquet
227
+ - split: L2
228
+ path: franka/oracle_val/table_height/L2/data/**/*.parquet
229
+ - split: L3
230
+ path: franka/oracle_val/table_height/L3/data/**/*.parquet
231
+ - split: L4
232
+ path: franka/oracle_val/table_height/L4/data/**/*.parquet
233
+ - split: L5
234
+ path: franka/oracle_val/table_height/L5/data/**/*.parquet
235
+ - config_name: franka-eval-base_pose
236
+ data_files:
237
+ - split: L1
238
+ path: franka/eval/base_pose/L1/data/**/*.parquet
239
+ - split: L2
240
+ path: franka/eval/base_pose/L2/data/**/*.parquet
241
+ - split: L3
242
+ path: franka/eval/base_pose/L3/data/**/*.parquet
243
+ - config_name: franka-eval-camera_fov
244
+ data_files:
245
+ - split: L1
246
+ path: franka/eval/camera_fov/L1/data/**/*.parquet
247
+ - split: L2
248
+ path: franka/eval/camera_fov/L2/data/**/*.parquet
249
+ - split: L3
250
+ path: franka/eval/camera_fov/L3/data/**/*.parquet
251
+ - config_name: franka-eval-camera_orientation
252
+ data_files:
253
+ - split: L1
254
+ path: franka/eval/camera_orientation/L1/data/**/*.parquet
255
+ - split: L2
256
+ path: franka/eval/camera_orientation/L2/data/**/*.parquet
257
+ - split: L3
258
+ path: franka/eval/camera_orientation/L3/data/**/*.parquet
259
+ - split: L4
260
+ path: franka/eval/camera_orientation/L4/data/**/*.parquet
261
+ - split: L5
262
+ path: franka/eval/camera_orientation/L5/data/**/*.parquet
263
+ - config_name: franka-eval-camera_shift
264
+ data_files:
265
+ - split: L1
266
+ path: franka/eval/camera_shift/L1/data/**/*.parquet
267
+ - split: L2
268
+ path: franka/eval/camera_shift/L2/data/**/*.parquet
269
+ - split: L3
270
+ path: franka/eval/camera_shift/L3/data/**/*.parquet
271
+ - config_name: franka-eval-colour_temperature
272
+ data_files:
273
+ - split: L1
274
+ path: franka/eval/colour_temperature/L1/data/**/*.parquet
275
+ - split: L2
276
+ path: franka/eval/colour_temperature/L2/data/**/*.parquet
277
+ - split: L3
278
+ path: franka/eval/colour_temperature/L3/data/**/*.parquet
279
+ - split: L4
280
+ path: franka/eval/colour_temperature/L4/data/**/*.parquet
281
+ - split: L5
282
+ path: franka/eval/colour_temperature/L5/data/**/*.parquet
283
+ - config_name: franka-eval-distractors
284
+ data_files:
285
+ - split: L1
286
+ path: franka/eval/distractors/L1/data/**/*.parquet
287
+ - split: L2
288
+ path: franka/eval/distractors/L2/data/**/*.parquet
289
+ - split: L3
290
+ path: franka/eval/distractors/L3/data/**/*.parquet
291
+ - split: L4
292
+ path: franka/eval/distractors/L4/data/**/*.parquet
293
+ - split: L5
294
+ path: franka/eval/distractors/L5/data/**/*.parquet
295
+ - config_name: franka-eval-frame_rotation
296
+ data_files:
297
+ - split: L1
298
+ path: franka/eval/frame_rotation/L1/data/**/*.parquet
299
+ - split: L2
300
+ path: franka/eval/frame_rotation/L2/data/**/*.parquet
301
+ - split: L3
302
+ path: franka/eval/frame_rotation/L3/data/**/*.parquet
303
+ - config_name: franka-eval-latency
304
+ data_files:
305
+ - split: L1
306
+ path: franka/eval/latency/L1/data/**/*.parquet
307
+ - split: L2
308
+ path: franka/eval/latency/L2/data/**/*.parquet
309
+ - split: L3
310
+ path: franka/eval/latency/L3/data/**/*.parquet
311
+ - split: L4
312
+ path: franka/eval/latency/L4/data/**/*.parquet
313
+ - split: L5
314
+ path: franka/eval/latency/L5/data/**/*.parquet
315
+ - config_name: franka-eval-light_direction
316
+ data_files:
317
+ - split: L1
318
+ path: franka/eval/light_direction/L1/data/**/*.parquet
319
+ - split: L2
320
+ path: franka/eval/light_direction/L2/data/**/*.parquet
321
+ - split: L3
322
+ path: franka/eval/light_direction/L3/data/**/*.parquet
323
+ - config_name: franka-eval-light_flicker
324
+ data_files:
325
+ - split: L1
326
+ path: franka/eval/light_flicker/L1/data/**/*.parquet
327
+ - split: L2
328
+ path: franka/eval/light_flicker/L2/data/**/*.parquet
329
+ - split: L3
330
+ path: franka/eval/light_flicker/L3/data/**/*.parquet
331
+ - config_name: franka-eval-nominal
332
+ data_files:
333
+ - split: L0
334
+ path: franka/eval/nominal/L0/data/**/*.parquet
335
+ - config_name: franka-eval-table_height
336
+ data_files:
337
+ - split: L1
338
+ path: franka/eval/table_height/L1/data/**/*.parquet
339
+ - split: L2
340
+ path: franka/eval/table_height/L2/data/**/*.parquet
341
+ - split: L3
342
+ path: franka/eval/table_height/L3/data/**/*.parquet
343
+ - split: L4
344
+ path: franka/eval/table_height/L4/data/**/*.parquet
345
+ - split: L5
346
+ path: franka/eval/table_height/L5/data/**/*.parquet
347
+ - config_name: widowx-train-nominal
348
+ data_files:
349
+ - split: L0
350
+ path: widowx/train/nominal/L0/data/**/*.parquet
351
+ - config_name: widowx-val-nominal
352
+ data_files:
353
+ - split: L0
354
+ path: widowx/val/nominal/L0/data/**/*.parquet
355
+ - config_name: widowx-adapt-base_pose
356
+ data_files:
357
+ - split: L1
358
+ path: widowx/adapt/base_pose/L1/data/**/*.parquet
359
+ - split: L2
360
+ path: widowx/adapt/base_pose/L2/data/**/*.parquet
361
+ - split: L3
362
+ path: widowx/adapt/base_pose/L3/data/**/*.parquet
363
+ - config_name: widowx-adapt-camera_fov
364
+ data_files:
365
+ - split: L1
366
+ path: widowx/adapt/camera_fov/L1/data/**/*.parquet
367
+ - split: L2
368
+ path: widowx/adapt/camera_fov/L2/data/**/*.parquet
369
+ - split: L3
370
+ path: widowx/adapt/camera_fov/L3/data/**/*.parquet
371
+ - config_name: widowx-adapt-camera_shift
372
+ data_files:
373
+ - split: L1
374
+ path: widowx/adapt/camera_shift/L1/data/**/*.parquet
375
+ - split: L2
376
+ path: widowx/adapt/camera_shift/L2/data/**/*.parquet
377
+ - split: L3
378
+ path: widowx/adapt/camera_shift/L3/data/**/*.parquet
379
+ - config_name: widowx-adapt-frame_rotation
380
+ data_files:
381
+ - split: L1
382
+ path: widowx/adapt/frame_rotation/L1/data/**/*.parquet
383
+ - split: L2
384
+ path: widowx/adapt/frame_rotation/L2/data/**/*.parquet
385
+ - split: L3
386
+ path: widowx/adapt/frame_rotation/L3/data/**/*.parquet
387
+ - config_name: widowx-adapt-light_direction
388
+ data_files:
389
+ - split: L1
390
+ path: widowx/adapt/light_direction/L1/data/**/*.parquet
391
+ - split: L2
392
+ path: widowx/adapt/light_direction/L2/data/**/*.parquet
393
+ - split: L3
394
+ path: widowx/adapt/light_direction/L3/data/**/*.parquet
395
+ - config_name: widowx-adapt-light_flicker
396
+ data_files:
397
+ - split: L1
398
+ path: widowx/adapt/light_flicker/L1/data/**/*.parquet
399
+ - split: L2
400
+ path: widowx/adapt/light_flicker/L2/data/**/*.parquet
401
+ - split: L3
402
+ path: widowx/adapt/light_flicker/L3/data/**/*.parquet
403
+ - config_name: widowx-adapt_val-base_pose
404
+ data_files:
405
+ - split: L1
406
+ path: widowx/adapt_val/base_pose/L1/data/**/*.parquet
407
+ - split: L2
408
+ path: widowx/adapt_val/base_pose/L2/data/**/*.parquet
409
+ - split: L3
410
+ path: widowx/adapt_val/base_pose/L3/data/**/*.parquet
411
+ - config_name: widowx-adapt_val-camera_fov
412
+ data_files:
413
+ - split: L1
414
+ path: widowx/adapt_val/camera_fov/L1/data/**/*.parquet
415
+ - split: L2
416
+ path: widowx/adapt_val/camera_fov/L2/data/**/*.parquet
417
+ - split: L3
418
+ path: widowx/adapt_val/camera_fov/L3/data/**/*.parquet
419
+ - config_name: widowx-adapt_val-camera_shift
420
+ data_files:
421
+ - split: L1
422
+ path: widowx/adapt_val/camera_shift/L1/data/**/*.parquet
423
+ - split: L2
424
+ path: widowx/adapt_val/camera_shift/L2/data/**/*.parquet
425
+ - split: L3
426
+ path: widowx/adapt_val/camera_shift/L3/data/**/*.parquet
427
+ - config_name: widowx-adapt_val-frame_rotation
428
+ data_files:
429
+ - split: L1
430
+ path: widowx/adapt_val/frame_rotation/L1/data/**/*.parquet
431
+ - split: L2
432
+ path: widowx/adapt_val/frame_rotation/L2/data/**/*.parquet
433
+ - split: L3
434
+ path: widowx/adapt_val/frame_rotation/L3/data/**/*.parquet
435
+ - config_name: widowx-adapt_val-light_direction
436
+ data_files:
437
+ - split: L1
438
+ path: widowx/adapt_val/light_direction/L1/data/**/*.parquet
439
+ - split: L2
440
+ path: widowx/adapt_val/light_direction/L2/data/**/*.parquet
441
+ - split: L3
442
+ path: widowx/adapt_val/light_direction/L3/data/**/*.parquet
443
+ - config_name: widowx-adapt_val-light_flicker
444
+ data_files:
445
+ - split: L1
446
+ path: widowx/adapt_val/light_flicker/L1/data/**/*.parquet
447
+ - split: L2
448
+ path: widowx/adapt_val/light_flicker/L2/data/**/*.parquet
449
+ - split: L3
450
+ path: widowx/adapt_val/light_flicker/L3/data/**/*.parquet
451
+ - config_name: widowx-oracle-camera_orientation
452
+ data_files:
453
+ - split: L1
454
+ path: widowx/oracle/camera_orientation/L1/data/**/*.parquet
455
+ - split: L2
456
+ path: widowx/oracle/camera_orientation/L2/data/**/*.parquet
457
+ - split: L3
458
+ path: widowx/oracle/camera_orientation/L3/data/**/*.parquet
459
+ - split: L4
460
+ path: widowx/oracle/camera_orientation/L4/data/**/*.parquet
461
+ - split: L5
462
+ path: widowx/oracle/camera_orientation/L5/data/**/*.parquet
463
+ - config_name: widowx-oracle-colour_temperature
464
+ data_files:
465
+ - split: L1
466
+ path: widowx/oracle/colour_temperature/L1/data/**/*.parquet
467
+ - split: L2
468
+ path: widowx/oracle/colour_temperature/L2/data/**/*.parquet
469
+ - split: L3
470
+ path: widowx/oracle/colour_temperature/L3/data/**/*.parquet
471
+ - split: L4
472
+ path: widowx/oracle/colour_temperature/L4/data/**/*.parquet
473
+ - split: L5
474
+ path: widowx/oracle/colour_temperature/L5/data/**/*.parquet
475
+ - config_name: widowx-oracle-distractors
476
+ data_files:
477
+ - split: L1
478
+ path: widowx/oracle/distractors/L1/data/**/*.parquet
479
+ - split: L2
480
+ path: widowx/oracle/distractors/L2/data/**/*.parquet
481
+ - split: L3
482
+ path: widowx/oracle/distractors/L3/data/**/*.parquet
483
+ - split: L4
484
+ path: widowx/oracle/distractors/L4/data/**/*.parquet
485
+ - split: L5
486
+ path: widowx/oracle/distractors/L5/data/**/*.parquet
487
+ - config_name: widowx-oracle-latency
488
+ data_files:
489
+ - split: L1
490
+ path: widowx/oracle/latency/L1/data/**/*.parquet
491
+ - split: L2
492
+ path: widowx/oracle/latency/L2/data/**/*.parquet
493
+ - split: L3
494
+ path: widowx/oracle/latency/L3/data/**/*.parquet
495
+ - split: L4
496
+ path: widowx/oracle/latency/L4/data/**/*.parquet
497
+ - split: L5
498
+ path: widowx/oracle/latency/L5/data/**/*.parquet
499
+ - config_name: widowx-oracle-table_height
500
+ data_files:
501
+ - split: L1
502
+ path: widowx/oracle/table_height/L1/data/**/*.parquet
503
+ - split: L2
504
+ path: widowx/oracle/table_height/L2/data/**/*.parquet
505
+ - split: L3
506
+ path: widowx/oracle/table_height/L3/data/**/*.parquet
507
+ - split: L4
508
+ path: widowx/oracle/table_height/L4/data/**/*.parquet
509
+ - split: L5
510
+ path: widowx/oracle/table_height/L5/data/**/*.parquet
511
+ - config_name: widowx-oracle_val-camera_orientation
512
+ data_files:
513
+ - split: L1
514
+ path: widowx/oracle_val/camera_orientation/L1/data/**/*.parquet
515
+ - split: L2
516
+ path: widowx/oracle_val/camera_orientation/L2/data/**/*.parquet
517
+ - split: L3
518
+ path: widowx/oracle_val/camera_orientation/L3/data/**/*.parquet
519
+ - split: L4
520
+ path: widowx/oracle_val/camera_orientation/L4/data/**/*.parquet
521
+ - split: L5
522
+ path: widowx/oracle_val/camera_orientation/L5/data/**/*.parquet
523
+ - config_name: widowx-oracle_val-colour_temperature
524
+ data_files:
525
+ - split: L1
526
+ path: widowx/oracle_val/colour_temperature/L1/data/**/*.parquet
527
+ - split: L2
528
+ path: widowx/oracle_val/colour_temperature/L2/data/**/*.parquet
529
+ - split: L3
530
+ path: widowx/oracle_val/colour_temperature/L3/data/**/*.parquet
531
+ - split: L4
532
+ path: widowx/oracle_val/colour_temperature/L4/data/**/*.parquet
533
+ - split: L5
534
+ path: widowx/oracle_val/colour_temperature/L5/data/**/*.parquet
535
+ - config_name: widowx-oracle_val-distractors
536
+ data_files:
537
+ - split: L1
538
+ path: widowx/oracle_val/distractors/L1/data/**/*.parquet
539
+ - split: L2
540
+ path: widowx/oracle_val/distractors/L2/data/**/*.parquet
541
+ - split: L3
542
+ path: widowx/oracle_val/distractors/L3/data/**/*.parquet
543
+ - split: L4
544
+ path: widowx/oracle_val/distractors/L4/data/**/*.parquet
545
+ - split: L5
546
+ path: widowx/oracle_val/distractors/L5/data/**/*.parquet
547
+ - config_name: widowx-oracle_val-latency
548
+ data_files:
549
+ - split: L1
550
+ path: widowx/oracle_val/latency/L1/data/**/*.parquet
551
+ - split: L2
552
+ path: widowx/oracle_val/latency/L2/data/**/*.parquet
553
+ - split: L3
554
+ path: widowx/oracle_val/latency/L3/data/**/*.parquet
555
+ - split: L4
556
+ path: widowx/oracle_val/latency/L4/data/**/*.parquet
557
+ - split: L5
558
+ path: widowx/oracle_val/latency/L5/data/**/*.parquet
559
+ - config_name: widowx-oracle_val-table_height
560
+ data_files:
561
+ - split: L1
562
+ path: widowx/oracle_val/table_height/L1/data/**/*.parquet
563
+ - split: L2
564
+ path: widowx/oracle_val/table_height/L2/data/**/*.parquet
565
+ - split: L3
566
+ path: widowx/oracle_val/table_height/L3/data/**/*.parquet
567
+ - split: L4
568
+ path: widowx/oracle_val/table_height/L4/data/**/*.parquet
569
+ - split: L5
570
+ path: widowx/oracle_val/table_height/L5/data/**/*.parquet
571
+ - config_name: widowx-eval-base_pose
572
+ data_files:
573
+ - split: L1
574
+ path: widowx/eval/base_pose/L1/data/**/*.parquet
575
+ - split: L2
576
+ path: widowx/eval/base_pose/L2/data/**/*.parquet
577
+ - split: L3
578
+ path: widowx/eval/base_pose/L3/data/**/*.parquet
579
+ - config_name: widowx-eval-camera_fov
580
+ data_files:
581
+ - split: L1
582
+ path: widowx/eval/camera_fov/L1/data/**/*.parquet
583
+ - split: L2
584
+ path: widowx/eval/camera_fov/L2/data/**/*.parquet
585
+ - split: L3
586
+ path: widowx/eval/camera_fov/L3/data/**/*.parquet
587
+ - config_name: widowx-eval-camera_orientation
588
+ data_files:
589
+ - split: L1
590
+ path: widowx/eval/camera_orientation/L1/data/**/*.parquet
591
+ - split: L2
592
+ path: widowx/eval/camera_orientation/L2/data/**/*.parquet
593
+ - split: L3
594
+ path: widowx/eval/camera_orientation/L3/data/**/*.parquet
595
+ - split: L4
596
+ path: widowx/eval/camera_orientation/L4/data/**/*.parquet
597
+ - split: L5
598
+ path: widowx/eval/camera_orientation/L5/data/**/*.parquet
599
+ - config_name: widowx-eval-camera_shift
600
+ data_files:
601
+ - split: L1
602
+ path: widowx/eval/camera_shift/L1/data/**/*.parquet
603
+ - split: L2
604
+ path: widowx/eval/camera_shift/L2/data/**/*.parquet
605
+ - split: L3
606
+ path: widowx/eval/camera_shift/L3/data/**/*.parquet
607
+ - config_name: widowx-eval-colour_temperature
608
+ data_files:
609
+ - split: L1
610
+ path: widowx/eval/colour_temperature/L1/data/**/*.parquet
611
+ - split: L2
612
+ path: widowx/eval/colour_temperature/L2/data/**/*.parquet
613
+ - split: L3
614
+ path: widowx/eval/colour_temperature/L3/data/**/*.parquet
615
+ - split: L4
616
+ path: widowx/eval/colour_temperature/L4/data/**/*.parquet
617
+ - split: L5
618
+ path: widowx/eval/colour_temperature/L5/data/**/*.parquet
619
+ - config_name: widowx-eval-distractors
620
+ data_files:
621
+ - split: L1
622
+ path: widowx/eval/distractors/L1/data/**/*.parquet
623
+ - split: L2
624
+ path: widowx/eval/distractors/L2/data/**/*.parquet
625
+ - split: L3
626
+ path: widowx/eval/distractors/L3/data/**/*.parquet
627
+ - split: L4
628
+ path: widowx/eval/distractors/L4/data/**/*.parquet
629
+ - split: L5
630
+ path: widowx/eval/distractors/L5/data/**/*.parquet
631
+ - config_name: widowx-eval-frame_rotation
632
+ data_files:
633
+ - split: L1
634
+ path: widowx/eval/frame_rotation/L1/data/**/*.parquet
635
+ - split: L2
636
+ path: widowx/eval/frame_rotation/L2/data/**/*.parquet
637
+ - split: L3
638
+ path: widowx/eval/frame_rotation/L3/data/**/*.parquet
639
+ - config_name: widowx-eval-latency
640
+ data_files:
641
+ - split: L1
642
+ path: widowx/eval/latency/L1/data/**/*.parquet
643
+ - split: L2
644
+ path: widowx/eval/latency/L2/data/**/*.parquet
645
+ - split: L3
646
+ path: widowx/eval/latency/L3/data/**/*.parquet
647
+ - split: L4
648
+ path: widowx/eval/latency/L4/data/**/*.parquet
649
+ - split: L5
650
+ path: widowx/eval/latency/L5/data/**/*.parquet
651
+ - config_name: widowx-eval-light_direction
652
+ data_files:
653
+ - split: L1
654
+ path: widowx/eval/light_direction/L1/data/**/*.parquet
655
+ - split: L2
656
+ path: widowx/eval/light_direction/L2/data/**/*.parquet
657
+ - split: L3
658
+ path: widowx/eval/light_direction/L3/data/**/*.parquet
659
+ - config_name: widowx-eval-light_flicker
660
+ data_files:
661
+ - split: L1
662
+ path: widowx/eval/light_flicker/L1/data/**/*.parquet
663
+ - split: L2
664
+ path: widowx/eval/light_flicker/L2/data/**/*.parquet
665
+ - split: L3
666
+ path: widowx/eval/light_flicker/L3/data/**/*.parquet
667
+ - config_name: widowx-eval-nominal
668
+ data_files:
669
+ - split: L0
670
+ path: widowx/eval/nominal/L0/data/**/*.parquet
671
+ - config_name: widowx-eval-table_height
672
+ data_files:
673
+ - split: L1
674
+ path: widowx/eval/table_height/L1/data/**/*.parquet
675
+ - split: L2
676
+ path: widowx/eval/table_height/L2/data/**/*.parquet
677
+ - split: L3
678
+ path: widowx/eval/table_height/L3/data/**/*.parquet
679
+ - split: L4
680
+ path: widowx/eval/table_height/L4/data/**/*.parquet
681
+ - split: L5
682
+ path: widowx/eval/table_height/L5/data/**/*.parquet
683
+ ---
684
+
685
+ # WM-data: robot world-model data under distribution shift
686
+
687
+ Simulated robot video with actions, for training and evaluating action-conditioned world models, and for studying how
688
+ they adapt to shifts in the environment. Two robots: a **Franka** arm in LIBERO (MuJoCo) and a **WidowX** arm in
689
+ SimplerEnv (SAPIEN). Every folder `<robot>/<pool>/<shift>/L<k>` is a self-contained
690
+ [LeRobot](https://github.com/huggingface/lerobot) v3 dataset (`meta/`, `data/` parquet, `videos/` mp4).
691
+
692
+ 54,017 episodes, 6,194,106 frames in total.
693
+
694
+ ## Layout
695
+
696
+ - `<robot>/train/nominal/L0`, `<robot>/val/nominal/L0`: nominal (unshifted) training data and the early-stopping set.
697
+ - `<robot>/<pool>/<shift>/L<k>`: the shift-adaptation study, shift `<shift>` at severity level `k` (1 = mildest).
698
+ - `adapt` / `adapt_val`: 6 shift types at levels 1-3 (training starts / validation starts).
699
+ - `oracle` / `oracle_val`: 5 shift types at levels 1-5 (plentiful shifted data: an upper bound on adaptation).
700
+ - `eval`: held-out test starts for every adapt and oracle cell plus `nominal`; each test group starts five policy
701
+ rollouts (five action-noise levels) from one identical state, and the same groups appear in every cell.
702
+
703
+ Each episode's frames carry its provenance in `rs.*` columns (policy, source, noise level, shift, level, start, ...).
704
+
705
+ ## Downloading parts
706
+
707
+ Each subset below is one `<robot>-<pool>-<shift>` folder; its splits are the levels. Tabular data only (actions,
708
+ states, indices, metadata; no video):
709
+
710
+ ```python
711
+ from datasets import load_dataset
712
+ ds = load_dataset("DJ-Research/WM-data", "franka-oracle-distractors", split="L5")
713
+ ```
714
+
715
+ Full LeRobot datasets with video, at any granularity (a level, a shift, a pool, a robot):
716
+
717
+ ```python
718
+ from huggingface_hub import snapshot_download
719
+ root = snapshot_download("DJ-Research/WM-data", repo_type="dataset",
720
+ allow_patterns="franka/oracle/distractors/L5/**")
721
+ # from lerobot.datasets.lerobot_dataset import LeRobotDataset
722
+ # ds = LeRobotDataset("WM-data", root=f"{root}/franka/oracle/distractors/L5")
723
+ ```
724
+
725
+ ## Subsets
726
+
727
+ | subset | splits (levels) | episodes | hours |
728
+ | --- | --- | ---: | ---: |
729
+ | `franka-train-nominal` | L0 | 807 | 2.05 |
730
+ | `franka-val-nominal` | L0 | 141 | 0.46 |
731
+ | `franka-adapt-base_pose` | L1, L2, L3 | 2,290 | 5.90 |
732
+ | `franka-adapt-camera_fov` | L1, L2, L3 | 2,318 | 5.99 |
733
+ | `franka-adapt-camera_shift` | L1, L2, L3 | 2,349 | 5.90 |
734
+ | `franka-adapt-frame_rotation` | L1, L2, L3 | 2,087 | 5.91 |
735
+ | `franka-adapt-light_direction` | L1, L2, L3 | 2,394 | 5.95 |
736
+ | `franka-adapt-light_flicker` | L1, L2, L3 | 2,342 | 5.90 |
737
+ | `franka-adapt_val-base_pose` | L1, L2, L3 | 273 | 0.76 |
738
+ | `franka-adapt_val-camera_fov` | L1, L2, L3 | 278 | 0.76 |
739
+ | `franka-adapt_val-camera_shift` | L1, L2, L3 | 286 | 0.76 |
740
+ | `franka-adapt_val-frame_rotation` | L1, L2, L3 | 257 | 0.77 |
741
+ | `franka-adapt_val-light_direction` | L1, L2, L3 | 290 | 0.76 |
742
+ | `franka-adapt_val-light_flicker` | L1, L2, L3 | 291 | 0.76 |
743
+ | `franka-oracle-camera_orientation` | L1, L2, L3, L4, L5 | 3,610 | 9.92 |
744
+ | `franka-oracle-colour_temperature` | L1, L2, L3, L4, L5 | 3,955 | 9.80 |
745
+ | `franka-oracle-distractors` | L1, L2, L3, L4, L5 | 3,659 | 10.02 |
746
+ | `franka-oracle-latency` | L1, L2, L3, L4, L5 | 3,056 | 10.05 |
747
+ | `franka-oracle-table_height` | L1, L2, L3, L4, L5 | 4,123 | 9.80 |
748
+ | `franka-oracle_val-camera_orientation` | L1, L2, L3, L4, L5 | 431 | 1.27 |
749
+ | `franka-oracle_val-colour_temperature` | L1, L2, L3, L4, L5 | 474 | 1.27 |
750
+ | `franka-oracle_val-distractors` | L1, L2, L3, L4, L5 | 444 | 1.27 |
751
+ | `franka-oracle_val-latency` | L1, L2, L3, L4, L5 | 375 | 1.27 |
752
+ | `franka-oracle_val-table_height` | L1, L2, L3, L4, L5 | 483 | 1.27 |
753
+ | `franka-eval-base_pose` | L1, L2, L3 | 240 | 0.81 |
754
+ | `franka-eval-camera_fov` | L1, L2, L3 | 240 | 0.77 |
755
+ | `franka-eval-camera_orientation` | L1, L2, L3, L4, L5 | 400 | 1.39 |
756
+ | `franka-eval-camera_shift` | L1, L2, L3 | 240 | 0.76 |
757
+ | `franka-eval-colour_temperature` | L1, L2, L3, L4, L5 | 400 | 1.26 |
758
+ | `franka-eval-distractors` | L1, L2, L3, L4, L5 | 400 | 1.40 |
759
+ | `franka-eval-frame_rotation` | L1, L2, L3 | 240 | 0.86 |
760
+ | `franka-eval-latency` | L1, L2, L3, L4, L5 | 400 | 1.63 |
761
+ | `franka-eval-light_direction` | L1, L2, L3 | 240 | 0.75 |
762
+ | `franka-eval-light_flicker` | L1, L2, L3 | 240 | 0.74 |
763
+ | `franka-eval-nominal` | L0 | 80 | 0.24 |
764
+ | `franka-eval-table_height` | L1, L2, L3, L4, L5 | 400 | 1.22 |
765
+ | `widowx-train-nominal` | L0 | 249 | 2.16 |
766
+ | `widowx-val-nominal` | L0 | 36 | 0.49 |
767
+ | `widowx-adapt-base_pose` | L1, L2, L3 | 680 | 5.99 |
768
+ | `widowx-adapt-camera_fov` | L1, L2, L3 | 727 | 6.04 |
769
+ | `widowx-adapt-camera_shift` | L1, L2, L3 | 656 | 5.99 |
770
+ | `widowx-adapt-frame_rotation` | L1, L2, L3 | 724 | 6.04 |
771
+ | `widowx-adapt-light_direction` | L1, L2, L3 | 719 | 6.06 |
772
+ | `widowx-adapt-light_flicker` | L1, L2, L3 | 745 | 6.07 |
773
+ | `widowx-adapt_val-base_pose` | L1, L2, L3 | 96 | 0.80 |
774
+ | `widowx-adapt_val-camera_fov` | L1, L2, L3 | 92 | 0.78 |
775
+ | `widowx-adapt_val-camera_shift` | L1, L2, L3 | 92 | 0.78 |
776
+ | `widowx-adapt_val-frame_rotation` | L1, L2, L3 | 89 | 0.79 |
777
+ | `widowx-adapt_val-light_direction` | L1, L2, L3 | 92 | 0.80 |
778
+ | `widowx-adapt_val-light_flicker` | L1, L2, L3 | 91 | 0.79 |
779
+ | `widowx-oracle-camera_orientation` | L1, L2, L3, L4, L5 | 1,167 | 10.10 |
780
+ | `widowx-oracle-colour_temperature` | L1, L2, L3, L4, L5 | 1,227 | 10.08 |
781
+ | `widowx-oracle-distractors` | L1, L2, L3, L4, L5 | 1,227 | 10.01 |
782
+ | `widowx-oracle-latency` | L1, L2, L3, L4, L5 | 1,124 | 10.10 |
783
+ | `widowx-oracle-table_height` | L1, L2, L3, L4, L5 | 1,121 | 10.13 |
784
+ | `widowx-oracle_val-camera_orientation` | L1, L2, L3, L4, L5 | 151 | 1.30 |
785
+ | `widowx-oracle_val-colour_temperature` | L1, L2, L3, L4, L5 | 156 | 1.33 |
786
+ | `widowx-oracle_val-distractors` | L1, L2, L3, L4, L5 | 157 | 1.33 |
787
+ | `widowx-oracle_val-latency` | L1, L2, L3, L4, L5 | 160 | 1.32 |
788
+ | `widowx-oracle_val-table_height` | L1, L2, L3, L4, L5 | 146 | 1.31 |
789
+ | `widowx-eval-base_pose` | L1, L2, L3 | 120 | 1.60 |
790
+ | `widowx-eval-camera_fov` | L1, L2, L3 | 120 | 1.47 |
791
+ | `widowx-eval-camera_orientation` | L1, L2, L3, L4, L5 | 200 | 2.83 |
792
+ | `widowx-eval-camera_shift` | L1, L2, L3 | 120 | 1.50 |
793
+ | `widowx-eval-colour_temperature` | L1, L2, L3, L4, L5 | 200 | 2.50 |
794
+ | `widowx-eval-distractors` | L1, L2, L3, L4, L5 | 200 | 2.41 |
795
+ | `widowx-eval-frame_rotation` | L1, L2, L3 | 120 | 1.44 |
796
+ | `widowx-eval-latency` | L1, L2, L3, L4, L5 | 200 | 2.80 |
797
+ | `widowx-eval-light_direction` | L1, L2, L3 | 120 | 1.41 |
798
+ | `widowx-eval-light_flicker` | L1, L2, L3 | 120 | 1.46 |
799
+ | `widowx-eval-nominal` | L0 | 40 | 0.49 |
800
+ | `widowx-eval-table_height` | L1, L2, L3, L4, L5 | 200 | 2.88 |