--- 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 `///L` 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 - `/train/nominal/L0`, `/val/nominal/L0`: nominal (unshifted) training data and the early-stopping set. - `///L`: the shift-adaptation study, 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 `--` 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 |