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End of preview. Expand in Data Studio
WM-data: robot world-model data under distribution shift
Simulated robot video with actions, for training and evaluating action-conditioned world models, and for studying how
they adapt to shifts in the environment. Two robots: a Franka arm in LIBERO (MuJoCo) and a WidowX arm in
SimplerEnv (SAPIEN). Every folder <robot>/<pool>/<shift>/L<k> is a self-contained
LeRobot v3 dataset (meta/, data/ parquet, videos/ mp4).
54,017 episodes, 6,194,106 frames in total.
Layout
<robot>/train/nominal/L0,<robot>/val/nominal/L0: nominal (unshifted) training data and the early-stopping set.<robot>/<pool>/<shift>/L<k>: the shift-adaptation study, shift<shift>at severity levelk(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 plusnominal; each test group starts five policy rollouts (five action-noise levels) from one identical state, and the same groups appear in every cell.
Each episode's frames carry its provenance in rs.* columns (policy, source, noise level, shift, level, start, ...).
Downloading parts
Each subset below is one <robot>-<pool>-<shift> folder; its splits are the levels. Tabular data only (actions,
states, indices, metadata; no video):
from datasets import load_dataset
ds = load_dataset("DJ-Research/WM-data", "franka-oracle-distractors", split="L5")
Full LeRobot datasets with video, at any granularity (a level, a shift, a pool, a robot):
from huggingface_hub import snapshot_download
root = snapshot_download("DJ-Research/WM-data", repo_type="dataset",
allow_patterns="franka/oracle/distractors/L5/**")
# from lerobot.datasets.lerobot_dataset import LeRobotDataset
# ds = LeRobotDataset("WM-data", root=f"{root}/franka/oracle/distractors/L5")
Subsets
| subset | splits (levels) | episodes | hours |
|---|---|---|---|
franka-train-nominal |
L0 | 807 | 2.05 |
franka-val-nominal |
L0 | 141 | 0.46 |
franka-adapt-base_pose |
L1, L2, L3 | 2,290 | 5.90 |
franka-adapt-camera_fov |
L1, L2, L3 | 2,318 | 5.99 |
franka-adapt-camera_shift |
L1, L2, L3 | 2,349 | 5.90 |
franka-adapt-frame_rotation |
L1, L2, L3 | 2,087 | 5.91 |
franka-adapt-light_direction |
L1, L2, L3 | 2,394 | 5.95 |
franka-adapt-light_flicker |
L1, L2, L3 | 2,342 | 5.90 |
franka-adapt_val-base_pose |
L1, L2, L3 | 273 | 0.76 |
franka-adapt_val-camera_fov |
L1, L2, L3 | 278 | 0.76 |
franka-adapt_val-camera_shift |
L1, L2, L3 | 286 | 0.76 |
franka-adapt_val-frame_rotation |
L1, L2, L3 | 257 | 0.77 |
franka-adapt_val-light_direction |
L1, L2, L3 | 290 | 0.76 |
franka-adapt_val-light_flicker |
L1, L2, L3 | 291 | 0.76 |
franka-oracle-camera_orientation |
L1, L2, L3, L4, L5 | 3,610 | 9.92 |
franka-oracle-colour_temperature |
L1, L2, L3, L4, L5 | 3,955 | 9.80 |
franka-oracle-distractors |
L1, L2, L3, L4, L5 | 3,659 | 10.02 |
franka-oracle-latency |
L1, L2, L3, L4, L5 | 3,056 | 10.05 |
franka-oracle-table_height |
L1, L2, L3, L4, L5 | 4,123 | 9.80 |
franka-oracle_val-camera_orientation |
L1, L2, L3, L4, L5 | 431 | 1.27 |
franka-oracle_val-colour_temperature |
L1, L2, L3, L4, L5 | 474 | 1.27 |
franka-oracle_val-distractors |
L1, L2, L3, L4, L5 | 444 | 1.27 |
franka-oracle_val-latency |
L1, L2, L3, L4, L5 | 375 | 1.27 |
franka-oracle_val-table_height |
L1, L2, L3, L4, L5 | 483 | 1.27 |
franka-eval-base_pose |
L1, L2, L3 | 240 | 0.81 |
franka-eval-camera_fov |
L1, L2, L3 | 240 | 0.77 |
franka-eval-camera_orientation |
L1, L2, L3, L4, L5 | 400 | 1.39 |
franka-eval-camera_shift |
L1, L2, L3 | 240 | 0.76 |
franka-eval-colour_temperature |
L1, L2, L3, L4, L5 | 400 | 1.26 |
franka-eval-distractors |
L1, L2, L3, L4, L5 | 400 | 1.40 |
franka-eval-frame_rotation |
L1, L2, L3 | 240 | 0.86 |
franka-eval-latency |
L1, L2, L3, L4, L5 | 400 | 1.63 |
franka-eval-light_direction |
L1, L2, L3 | 240 | 0.75 |
franka-eval-light_flicker |
L1, L2, L3 | 240 | 0.74 |
franka-eval-nominal |
L0 | 80 | 0.24 |
franka-eval-table_height |
L1, L2, L3, L4, L5 | 400 | 1.22 |
widowx-train-nominal |
L0 | 249 | 2.16 |
widowx-val-nominal |
L0 | 36 | 0.49 |
widowx-adapt-base_pose |
L1, L2, L3 | 680 | 5.99 |
widowx-adapt-camera_fov |
L1, L2, L3 | 727 | 6.04 |
widowx-adapt-camera_shift |
L1, L2, L3 | 656 | 5.99 |
widowx-adapt-frame_rotation |
L1, L2, L3 | 724 | 6.04 |
widowx-adapt-light_direction |
L1, L2, L3 | 719 | 6.06 |
widowx-adapt-light_flicker |
L1, L2, L3 | 745 | 6.07 |
widowx-adapt_val-base_pose |
L1, L2, L3 | 96 | 0.80 |
widowx-adapt_val-camera_fov |
L1, L2, L3 | 92 | 0.78 |
widowx-adapt_val-camera_shift |
L1, L2, L3 | 92 | 0.78 |
widowx-adapt_val-frame_rotation |
L1, L2, L3 | 89 | 0.79 |
widowx-adapt_val-light_direction |
L1, L2, L3 | 92 | 0.80 |
widowx-adapt_val-light_flicker |
L1, L2, L3 | 91 | 0.79 |
widowx-oracle-camera_orientation |
L1, L2, L3, L4, L5 | 1,167 | 10.10 |
widowx-oracle-colour_temperature |
L1, L2, L3, L4, L5 | 1,227 | 10.08 |
widowx-oracle-distractors |
L1, L2, L3, L4, L5 | 1,227 | 10.01 |
widowx-oracle-latency |
L1, L2, L3, L4, L5 | 1,124 | 10.10 |
widowx-oracle-table_height |
L1, L2, L3, L4, L5 | 1,121 | 10.13 |
widowx-oracle_val-camera_orientation |
L1, L2, L3, L4, L5 | 151 | 1.30 |
widowx-oracle_val-colour_temperature |
L1, L2, L3, L4, L5 | 156 | 1.33 |
widowx-oracle_val-distractors |
L1, L2, L3, L4, L5 | 157 | 1.33 |
widowx-oracle_val-latency |
L1, L2, L3, L4, L5 | 160 | 1.32 |
widowx-oracle_val-table_height |
L1, L2, L3, L4, L5 | 146 | 1.31 |
widowx-eval-base_pose |
L1, L2, L3 | 120 | 1.60 |
widowx-eval-camera_fov |
L1, L2, L3 | 120 | 1.47 |
widowx-eval-camera_orientation |
L1, L2, L3, L4, L5 | 200 | 2.83 |
widowx-eval-camera_shift |
L1, L2, L3 | 120 | 1.50 |
widowx-eval-colour_temperature |
L1, L2, L3, L4, L5 | 200 | 2.50 |
widowx-eval-distractors |
L1, L2, L3, L4, L5 | 200 | 2.41 |
widowx-eval-frame_rotation |
L1, L2, L3 | 120 | 1.44 |
widowx-eval-latency |
L1, L2, L3, L4, L5 | 200 | 2.80 |
widowx-eval-light_direction |
L1, L2, L3 | 120 | 1.41 |
widowx-eval-light_flicker |
L1, L2, L3 | 120 | 1.46 |
widowx-eval-nominal |
L0 | 40 | 0.49 |
widowx-eval-table_height |
L1, L2, L3, L4, L5 | 200 | 2.88 |
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