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dynamic_robot_bench_dr_scripted_10k
10,000 scripted-expert demonstrations across all 100 dynamic task families of dynamic-robot-bench — a conveyor-belt dynamic-manipulation benchmark (Franka Panda + wrist camera, ManiSkill 3 / SAPIEN GPU sim). One LeRobot v2.1 dataset: 100 episodes per family, success-filtered, language-prompted per episode.
Collection configuration (identical for every family)
- Scripted expert with per-step auto-derived speed caps, recorded as
joint-position actions in the
droid_pandaschema (3 RGB views: 2 exterior + wrist, 224×224, 20 fps). - Full domain randomization per episode: belt speed uniform 0.10–0.50 m/s, stratified over 5 equal-width bins (20 episodes per bin per family), belt direction, task-specific spatial/physical knobs (object yaw, lateral offsets, spring stiffness, ...), expert velocity SDE, and scene-background DR (workspace texture, lighting, camera jitter, clutter) resampled every 20 episodes. Families with an object catalog resample object identity as well.
- Success-filtered: only episodes whose task-specific success predicate holds at termination are kept. Every family's expert passes >=0.90 success under this full randomization (verified per family at multiple seeds before collection).
Layout
data/chunk-XXX/episode_NNNNNN.parquet— one file per episode, images inline.meta/episodes.jsonl/meta/episodes_stats.jsonl/meta/tasks.jsonl/meta/info.json— standard LeRobot v2.1 metadata.ranges.json— maps each of the 100 gym task ids to its contiguous episode range (episodes are ordered by family, alphabetical by gym id).
Asset attribution
Rendered scenes may include third-party 3D assets:
- Google Scanned Objects (CC-BY 4.0) — Google LLC. https://app.gazebosim.org/GoogleResearch/fuel/collections/Scanned%20Objects%20by%20Google%20Research
- YCB Object and Model Set (CC-BY 4.0) — Calli et al.
- Procedural primitive assets generated by the benchmark itself.
This dataset is released under CC-BY 4.0.
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