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Datasets:
SWIRL-Lab
/
bigym2-agent-rollouts

Tasks:
Robotics
Languages:
English
ArXiv:
Tags:
robotics
bigym
humanoid
loco-manipulation
coding-agents
evaluation
License:
Dataset card Files
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 Community
Nagi-ovo commited on
Commit
67f5a76
·
verified ·
1 Parent(s): 4c6e1bb

Add each task's metadata.json so bigym-view opens its folder; say how to watch the episodes

Browse files
Files changed (10) hide show
  1. README.md +27 -3
  2. episodes/dishwasher_close/metadata.json +157 -0
  3. episodes/dishwasher_load_cups/metadata.json +157 -0
  4. episodes/drawer_top_close/metadata.json +157 -0
  5. episodes/drawer_top_open/metadata.json +157 -0
  6. episodes/move_plate/metadata.json +157 -0
  7. episodes/move_two_plates/metadata.json +157 -0
  8. episodes/pick_box/metadata.json +157 -0
  9. episodes/reach_target_dual/metadata.json +157 -0
  10. episodes/reach_target_multi_modal/metadata.json +157 -0
README.md CHANGED
@@ -37,6 +37,7 @@ replay reproduces the scored outcome of its seed.
37
 
38
  ```
39
  manifest.csv one row per episode
 
40
  episodes/<task>/<session>_seed<seed>.npz simulator state and actions
41
  viser/<task>/<session>_seed<seed>.viser 3D replay for the viser player
42
  viser/<task>/<session>_seed<seed>.viser.json its frame count, length and camera
@@ -46,6 +47,19 @@ trace/<task>/<session>_seed<seed>.json lines the program ran at each co
46
  Sessions are named `opus-s1` … `opus-s3` and `astra-s1` … `astra-s3`; seeds run
47
  from 620000 to 620099.
48
 
 
 
 
 
 
 
 
 
 
 
 
 
 
49
  ## Episodes
50
 
51
  One `.npz` per episode, stepped at the 50 Hz control rate (step *i* is at
@@ -54,14 +68,19 @@ at any resolution can be re-rendered.
54
 
55
  | Key | Shape | |
56
  |---|---|---|
57
- | `full_qpos` | (T+1, 47) | positions of the robot and every object |
58
- | `full_qvel` | (T+1, 46) | velocities |
59
- | `action` | (T, 21) | joint targets the program sent |
60
  | `reward` | (T, 1) | per-step reward |
61
  | `seed`, `length` | scalar | evaluation seed, T |
62
  | `success`, `fell` | scalar | 1.0 if the goal state held for one second / if the robot fell |
63
  | `termination` | scalar | `success`, `timeout`, `fell`, `physics_error` or `terminated` |
64
 
 
 
 
 
 
65
  ## Code traces
66
 
67
  Which lines of its program each episode ran, step by step: the episode was
@@ -88,6 +107,11 @@ then each helper module in name order, each after three extra lines (a blank lin
88
  (the development iteration that was frozen and scored), `seed`, `success`,
89
  `length`, and the paths of the episode and its replay.
90
 
 
 
 
 
 
91
  ## Citation
92
 
93
  ```bibtex
 
37
 
38
  ```
39
  manifest.csv one row per episode
40
+ episodes/<task>/metadata.json the environment the task's episodes ran in
41
  episodes/<task>/<session>_seed<seed>.npz simulator state and actions
42
  viser/<task>/<session>_seed<seed>.viser 3D replay for the viser player
43
  viser/<task>/<session>_seed<seed>.viser.json its frame count, length and camera
 
47
  Sessions are named `opus-s1` … `opus-s3` and `astra-s1` … `astra-s3`; seeds run
48
  from 620000 to 620099.
49
 
50
+ ## Watching them
51
+
52
+ Each `episodes/<task>/` folder opens in the BiGym 2.0 viewer, with every
53
+ episode's seed, outcome and length in its list:
54
+
55
+ ```bash
56
+ hf download SWIRL-Lab/bigym2-agent-rollouts --repo-type dataset --include "episodes/move_plate/*" --local-dir bigym2-agent-rollouts
57
+ uv run bigym-view --demo-dir bigym2-agent-rollouts/episodes/move_plate
58
+ ```
59
+
60
+ `--include "episodes/move_plate/astra-s1_*"` fetches one session only. The
61
+ viewer is in the [code repository](https://github.com/swirl-uk/BiGym2).
62
+
63
  ## Episodes
64
 
65
  One `.npz` per episode, stepped at the 50 Hz control rate (step *i* is at
 
68
 
69
  | Key | Shape | |
70
  |---|---|---|
71
+ | `full_qpos` | (T+1, nq) | positions of the robot and every object |
72
+ | `full_qvel` | (T+1, nv) | velocities |
73
+ | `action` | (T, 20 or 21) | joint targets the program sent |
74
  | `reward` | (T, 1) | per-step reward |
75
  | `seed`, `length` | scalar | evaluation seed, T |
76
  | `success`, `fell` | scalar | 1.0 if the goal state held for one second / if the robot fell |
77
  | `termination` | scalar | `success`, `timeout`, `fell`, `physics_error` or `terminated` |
78
 
79
+ `nq` and `nv` depend on the task's objects. `reach_target_*`, `move_plate` and
80
+ `drawer_top_*` use a 20-dim action; the other tasks add a torso-pitch command.
81
+ `metadata.json` holds the environment configuration (`env_config`), which
82
+ `EnvConfig.from_metadata` reads back.
83
+
84
  ## Code traces
85
 
86
  Which lines of its program each episode ran, step by step: the episode was
 
107
  (the development iteration that was frozen and scored), `seed`, `success`,
108
  `length`, and the paths of the episode and its replay.
109
 
110
+ ## Related
111
+
112
+ The human VR demonstrations of the same tasks are in
113
+ [`SWIRL-Lab/bigym-g1-native60`](https://huggingface.co/datasets/SWIRL-Lab/bigym-g1-native60).
114
+
115
  ## Citation
116
 
117
  ```bibtex
episodes/dishwasher_close/metadata.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format": "bigym_replay_npz",
3
+ "task": {
4
+ "task_name": "dishwasher_close",
5
+ "robot_model": "g1_dex1",
6
+ "enable_all_floating_dof": true,
7
+ "control_pelvis": true,
8
+ "action_mode": "absolute",
9
+ "demo_down_sample_rate": 10,
10
+ "episode_length": 46500,
11
+ "camera_shape": [
12
+ 84,
13
+ 84
14
+ ],
15
+ "camera_keys": [
16
+ "head",
17
+ "right_wrist",
18
+ "left_wrist"
19
+ ],
20
+ "state_keys": [
21
+ "proprioception",
22
+ "proprioception_grippers",
23
+ "proprioception_floating_base"
24
+ ],
25
+ "render_mode": "rgb_array",
26
+ "normalize_low_dim_obs": false,
27
+ "success_hold_seconds": 1.0,
28
+ "reach_tolerance": null,
29
+ "initialization_profile": "upstream"
30
+ },
31
+ "control_step_seconds": 0.02,
32
+ "lowerbody_policy": {
33
+ "enabled": true,
34
+ "backend": "groot_wbc_g1",
35
+ "base_action_mode": "lowerbody_cmd",
36
+ "reset_warmup_steps": 200,
37
+ "deterministic_reset": true,
38
+ "init_stance": "keyframe",
39
+ "support_base_with_legs": true,
40
+ "cmd_clip": 1.0,
41
+ "wz_clip": 1.0,
42
+ "use_height_cmd": true,
43
+ "skyhook_kp": 0.0,
44
+ "skyhook_damping": 0.0,
45
+ "groot_wbc_g1": {
46
+ "enable_pitch_cmd": true,
47
+ "passive_base_tilt": true,
48
+ "default_height_cmd": 0.74,
49
+ "default_pitch_cmd": 0.0,
50
+ "init_pelvis_z": 0.74
51
+ }
52
+ },
53
+ "env_config": {
54
+ "robot_model": "g1_dex1",
55
+ "controller": {
56
+ "backend": "groot_wbc_g1",
57
+ "base_action_mode": "lowerbody_cmd",
58
+ "pitch_command": true,
59
+ "reset_warmup_steps": 200,
60
+ "deterministic_reset": true,
61
+ "init_stance": "keyframe",
62
+ "passive_base_tilt": true,
63
+ "default_height_cmd": 0.74,
64
+ "init_pelvis_z": 0.74,
65
+ "height_cmd_min": null,
66
+ "height_cmd_max": null,
67
+ "pitch_cmd_min": null,
68
+ "pitch_cmd_max": null,
69
+ "default_pitch_cmd": 0.0,
70
+ "cmd_clip": 1.0,
71
+ "wz_clip": 1.0,
72
+ "use_height_cmd": true,
73
+ "skyhook_kp": 0.0,
74
+ "skyhook_damping": 0.0,
75
+ "model_path": null
76
+ },
77
+ "episode_length": 46500,
78
+ "demo_down_sample_rate": 10,
79
+ "success_hold_seconds": 1.0,
80
+ "reach_tolerance": null,
81
+ "initialization_profile": "upstream",
82
+ "enable_all_floating_dof": true,
83
+ "control_pelvis": true,
84
+ "action_mode": "absolute",
85
+ "camera_keys": [
86
+ "head",
87
+ "right_wrist",
88
+ "left_wrist"
89
+ ],
90
+ "camera_shape": [
91
+ 84,
92
+ 84
93
+ ],
94
+ "state_keys": [
95
+ "proprioception",
96
+ "proprioception_grippers",
97
+ "proprioception_floating_base"
98
+ ],
99
+ "event_reward_shaping_enabled": false,
100
+ "event_reward_progress_scale": 0.0,
101
+ "event_reward_holding_bonus": 0.0,
102
+ "event_reward_lift_bonus": 0.0,
103
+ "event_reward_target_bonus": 0.0,
104
+ "wholebody": null,
105
+ "frame_stack": 1,
106
+ "normalize_low_dim_obs": false,
107
+ "action_representation": "absolute",
108
+ "upper_delta_scale_rad": null,
109
+ "event_progress_enabled": false,
110
+ "render_mode": "rgb_array"
111
+ },
112
+ "substrate_fingerprint": {
113
+ "substrate_version": "bigym2-mj381-v1",
114
+ "mujoco_version": "3.8.1",
115
+ "task": "dishwasher_close",
116
+ "initialization_profile": "upstream",
117
+ "robot_model": "g1_dex1",
118
+ "lowerbody_backend": "groot_wbc_g1",
119
+ "success_hold_seconds": 1.0,
120
+ "lowerbody_base_action_mode": "lowerbody_cmd",
121
+ "lowerbody_init_stance": "keyframe",
122
+ "lowerbody_pitch_cmd": true,
123
+ "g1_passive_base_tilt": true,
124
+ "control_step_seconds": 0.02,
125
+ "lowerbody_checkpoint": null,
126
+ "lowerbody_weights": {
127
+ "GR00T-WholeBodyControl-Balance.onnx": "f645da599d4ca3d29ed273c8f4712620bb680d34977469ca3aeabe5bb9631c18",
128
+ "GR00T-WholeBodyControl-Walk.onnx": "7c82255b6905ffcc4468fa7f8ddcf7b70db168cf1042107ccab887cb6a8e5407"
129
+ },
130
+ "reset_warmup_steps": 200,
131
+ "reach_tolerance": null,
132
+ "compiled_model_sha256": "b05bcda8017483a37d991a454bb690abb1a86b30c9b744823b8caf8952f56107",
133
+ "bigym_version": "1.0.0",
134
+ "bigym_git_sha": "1284af87f5aa",
135
+ "episode_length": 46500,
136
+ "demo_down_sample_rate": 10,
137
+ "action_representation": "absolute",
138
+ "upper_delta_scale_rad": null,
139
+ "action_dim": 21,
140
+ "low_dim_component_slices": {
141
+ "proprioception": [
142
+ 0,
143
+ 50
144
+ ],
145
+ "proprioception_grippers": [
146
+ 50,
147
+ 52
148
+ ],
149
+ "proprioception_floating_base": [
150
+ 52,
151
+ 56
152
+ ]
153
+ },
154
+ "solver": 2,
155
+ "contact_signature": "27c37934518bb1de"
156
+ }
157
+ }
episodes/dishwasher_load_cups/metadata.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format": "bigym_replay_npz",
3
+ "task": {
4
+ "task_name": "dishwasher_load_cups",
5
+ "robot_model": "g1_dex1",
6
+ "enable_all_floating_dof": true,
7
+ "control_pelvis": true,
8
+ "action_mode": "absolute",
9
+ "demo_down_sample_rate": 10,
10
+ "episode_length": 20000,
11
+ "camera_shape": [
12
+ 84,
13
+ 84
14
+ ],
15
+ "camera_keys": [
16
+ "head",
17
+ "right_wrist",
18
+ "left_wrist"
19
+ ],
20
+ "state_keys": [
21
+ "proprioception",
22
+ "proprioception_grippers",
23
+ "proprioception_floating_base"
24
+ ],
25
+ "render_mode": "rgb_array",
26
+ "normalize_low_dim_obs": false,
27
+ "success_hold_seconds": 1.0,
28
+ "reach_tolerance": null,
29
+ "initialization_profile": "upstream"
30
+ },
31
+ "control_step_seconds": 0.02,
32
+ "lowerbody_policy": {
33
+ "enabled": true,
34
+ "backend": "groot_wbc_g1",
35
+ "base_action_mode": "lowerbody_cmd",
36
+ "reset_warmup_steps": 200,
37
+ "deterministic_reset": true,
38
+ "init_stance": "keyframe",
39
+ "support_base_with_legs": true,
40
+ "cmd_clip": 1.0,
41
+ "wz_clip": 1.0,
42
+ "use_height_cmd": true,
43
+ "skyhook_kp": 0.0,
44
+ "skyhook_damping": 0.0,
45
+ "groot_wbc_g1": {
46
+ "enable_pitch_cmd": true,
47
+ "passive_base_tilt": true,
48
+ "default_height_cmd": 0.74,
49
+ "default_pitch_cmd": 0.0,
50
+ "init_pelvis_z": 0.74
51
+ }
52
+ },
53
+ "env_config": {
54
+ "robot_model": "g1_dex1",
55
+ "controller": {
56
+ "backend": "groot_wbc_g1",
57
+ "base_action_mode": "lowerbody_cmd",
58
+ "pitch_command": true,
59
+ "reset_warmup_steps": 200,
60
+ "deterministic_reset": true,
61
+ "init_stance": "keyframe",
62
+ "passive_base_tilt": true,
63
+ "default_height_cmd": 0.74,
64
+ "init_pelvis_z": 0.74,
65
+ "height_cmd_min": null,
66
+ "height_cmd_max": null,
67
+ "pitch_cmd_min": null,
68
+ "pitch_cmd_max": null,
69
+ "default_pitch_cmd": 0.0,
70
+ "cmd_clip": 1.0,
71
+ "wz_clip": 1.0,
72
+ "use_height_cmd": true,
73
+ "skyhook_kp": 0.0,
74
+ "skyhook_damping": 0.0,
75
+ "model_path": null
76
+ },
77
+ "episode_length": 20000,
78
+ "demo_down_sample_rate": 10,
79
+ "success_hold_seconds": 1.0,
80
+ "reach_tolerance": null,
81
+ "initialization_profile": "upstream",
82
+ "enable_all_floating_dof": true,
83
+ "control_pelvis": true,
84
+ "action_mode": "absolute",
85
+ "camera_keys": [
86
+ "head",
87
+ "right_wrist",
88
+ "left_wrist"
89
+ ],
90
+ "camera_shape": [
91
+ 84,
92
+ 84
93
+ ],
94
+ "state_keys": [
95
+ "proprioception",
96
+ "proprioception_grippers",
97
+ "proprioception_floating_base"
98
+ ],
99
+ "event_reward_shaping_enabled": false,
100
+ "event_reward_progress_scale": 0.0,
101
+ "event_reward_holding_bonus": 0.0,
102
+ "event_reward_lift_bonus": 0.0,
103
+ "event_reward_target_bonus": 0.0,
104
+ "wholebody": null,
105
+ "frame_stack": 1,
106
+ "normalize_low_dim_obs": false,
107
+ "action_representation": "absolute",
108
+ "upper_delta_scale_rad": null,
109
+ "event_progress_enabled": false,
110
+ "render_mode": "rgb_array"
111
+ },
112
+ "substrate_fingerprint": {
113
+ "substrate_version": "bigym2-mj381-v1",
114
+ "mujoco_version": "3.8.1",
115
+ "task": "dishwasher_load_cups",
116
+ "initialization_profile": "upstream",
117
+ "robot_model": "g1_dex1",
118
+ "lowerbody_backend": "groot_wbc_g1",
119
+ "success_hold_seconds": 1.0,
120
+ "lowerbody_base_action_mode": "lowerbody_cmd",
121
+ "lowerbody_init_stance": "keyframe",
122
+ "lowerbody_pitch_cmd": true,
123
+ "g1_passive_base_tilt": true,
124
+ "control_step_seconds": 0.02,
125
+ "lowerbody_checkpoint": null,
126
+ "lowerbody_weights": {
127
+ "GR00T-WholeBodyControl-Balance.onnx": "f645da599d4ca3d29ed273c8f4712620bb680d34977469ca3aeabe5bb9631c18",
128
+ "GR00T-WholeBodyControl-Walk.onnx": "7c82255b6905ffcc4468fa7f8ddcf7b70db168cf1042107ccab887cb6a8e5407"
129
+ },
130
+ "reset_warmup_steps": 200,
131
+ "reach_tolerance": null,
132
+ "compiled_model_sha256": "3008bb9db406cac52df42e5b6bcff02fdd7968ac353fb4b1066dac9e1ae92903",
133
+ "bigym_version": "1.0.0",
134
+ "bigym_git_sha": "1284af87f5aa",
135
+ "episode_length": 20000,
136
+ "demo_down_sample_rate": 10,
137
+ "action_representation": "absolute",
138
+ "upper_delta_scale_rad": null,
139
+ "action_dim": 21,
140
+ "low_dim_component_slices": {
141
+ "proprioception": [
142
+ 0,
143
+ 50
144
+ ],
145
+ "proprioception_grippers": [
146
+ 50,
147
+ 52
148
+ ],
149
+ "proprioception_floating_base": [
150
+ 52,
151
+ 56
152
+ ]
153
+ },
154
+ "solver": 2,
155
+ "contact_signature": "e104465f42702443"
156
+ }
157
+ }
episodes/drawer_top_close/metadata.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format": "bigym_replay_npz",
3
+ "task": {
4
+ "task_name": "drawer_top_close",
5
+ "robot_model": "g1_dex1",
6
+ "enable_all_floating_dof": true,
7
+ "control_pelvis": true,
8
+ "action_mode": "absolute",
9
+ "demo_down_sample_rate": 10,
10
+ "episode_length": 8500,
11
+ "camera_shape": [
12
+ 84,
13
+ 84
14
+ ],
15
+ "camera_keys": [
16
+ "head",
17
+ "right_wrist",
18
+ "left_wrist"
19
+ ],
20
+ "state_keys": [
21
+ "proprioception",
22
+ "proprioception_grippers",
23
+ "proprioception_floating_base"
24
+ ],
25
+ "render_mode": "rgb_array",
26
+ "normalize_low_dim_obs": false,
27
+ "success_hold_seconds": 1.0,
28
+ "reach_tolerance": null,
29
+ "initialization_profile": "g1_id_v1"
30
+ },
31
+ "control_step_seconds": 0.02,
32
+ "lowerbody_policy": {
33
+ "enabled": true,
34
+ "backend": "groot_wbc_g1",
35
+ "base_action_mode": "lowerbody_cmd",
36
+ "reset_warmup_steps": 200,
37
+ "deterministic_reset": true,
38
+ "init_stance": "keyframe",
39
+ "support_base_with_legs": true,
40
+ "cmd_clip": 1.0,
41
+ "wz_clip": 1.0,
42
+ "use_height_cmd": true,
43
+ "skyhook_kp": 0.0,
44
+ "skyhook_damping": 0.0,
45
+ "groot_wbc_g1": {
46
+ "enable_pitch_cmd": false,
47
+ "passive_base_tilt": true,
48
+ "default_height_cmd": 0.74,
49
+ "default_pitch_cmd": 0.0,
50
+ "init_pelvis_z": 0.74
51
+ }
52
+ },
53
+ "env_config": {
54
+ "robot_model": "g1_dex1",
55
+ "controller": {
56
+ "backend": "groot_wbc_g1",
57
+ "base_action_mode": "lowerbody_cmd",
58
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