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README.md
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---
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license: other
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task_categories:
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- robotics
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- other
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language:
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- en
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tags:
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- embodied-ai
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- tracking
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- dagger
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- habitat
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pretty_name: OpenTrackVLA DAgger Recovery Dataset
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---
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# OpenTrackVLA DAgger Recovery Dataset
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Training-only DAgger recovery data generated in Habitat for OpenTrackVLA target
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tracking. This release contains V6-policy failure recovery data for AT, DT, and
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STT, using seeds 101 and 102.
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The uploaded payload contains only the final training-ready datasets:
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- JSONL trajectory labels;
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- referenced RGB frames;
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- precomputed DINOv3 + SigLIP fine/coarse visual-token caches;
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- conversion, filtering, and integrity metadata.
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Source rollouts, raw recovery videos, evaluation-scene data, model checkpoints,
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and EVT-Bench results are not included.
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## Layout
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```text
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packed/v6_failures/train/<task>/seed_<seed>/
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jsonl.tar.zst.part-0000...
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frames.tar.zst.part-0000...
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vision_cache.tar.zst.part-0000...
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metadata/v6_failures/train/<task>/seed_<seed>/
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dataset_stats.json
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dataset_inspection.json
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dagger_selection_plan.json
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referenced_frames.txt
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*.manifest.json
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```
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Each component is a Zstandard-compressed tar stream split into numbered parts.
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Reconstruct one component with:
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```bash
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cat <component>.tar.zst.part-* | tar --zstd -xf - -C /path/to/dataset
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```
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Every component manifest records the ordered part names, byte sizes, and SHA256
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checksums. Verify all parts before extraction.
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## Data policy
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This dataset is derived from simulated Habitat/HM3D tracking episodes. Users are
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responsible for complying with the licenses and terms of the upstream scene,
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avatar, simulator, and model assets. The `other` license marker is intentional:
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it does not replace those upstream terms.
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## Generation
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- Split: training scenes and training avatars only
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- Tasks: AT, DT, STT
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- Seeds: 101, 102
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- History: 31 frames
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- Prediction horizon: 8 waypoints
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- DAgger target fraction: 0.25
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- Failure window: 12 steps
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- Intervention pre/post windows: 12/8 steps
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- Maximum retained samples per episode: 26
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Deterministic Habitat native-process crashes are explicitly audited and excluded;
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they are never converted into synthetic success/failure labels.
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