| ---
|
| language:
|
| - en
|
| - zh
|
| license: other
|
| pretty_name: DynamicVLA Simulation Task Examples
|
| configs:
|
| - config_name: all
|
| data_files:
|
| - split: examples
|
| path: data/all.parquet
|
| default: true
|
| - config_name: task_000000
|
| data_files:
|
| - split: examples
|
| path: data/task_000000.parquet
|
| - config_name: task_000135
|
| data_files:
|
| - split: examples
|
| path: data/task_000135.parquet
|
| - config_name: task_000196
|
| data_files:
|
| - split: examples
|
| path: data/task_000196.parquet
|
| - config_name: task_000246
|
| data_files:
|
| - split: examples
|
| path: data/task_000246.parquet
|
| - config_name: task_000080
|
| data_files:
|
| - split: examples
|
| path: data/task_000080.parquet
|
| - config_name: task_000070
|
| data_files:
|
| - split: examples
|
| path: data/task_000070.parquet
|
| - config_name: task_010235
|
| data_files:
|
| - split: examples
|
| path: data/task_010235.parquet
|
| - config_name: task_010588
|
| data_files:
|
| - split: examples
|
| path: data/task_010588.parquet
|
| - config_name: task_042175
|
| data_files:
|
| - split: examples
|
| path: data/task_042175.parquet
|
| - config_name: task_042560
|
| data_files:
|
| - split: examples
|
| path: data/task_042560.parquet
|
| - config_name: task_060569
|
| data_files:
|
| - split: examples
|
| path: data/task_060569.parquet
|
| - config_name: task_060993
|
| data_files:
|
| - split: examples
|
| path: data/task_060993.parquet
|
| - config_name: task_077322
|
| data_files:
|
| - split: examples
|
| path: data/task_077322.parquet
|
| - config_name: task_077667
|
| data_files:
|
| - split: examples
|
| path: data/task_077667.parquet
|
| - config_name: task_108733
|
| data_files:
|
| - split: examples
|
| path: data/task_108733.parquet
|
| - config_name: task_111207
|
| data_files:
|
| - split: examples
|
| path: data/task_111207.parquet
|
| - config_name: task_140594
|
| data_files:
|
| - split: examples
|
| path: data/task_140594.parquet
|
| - config_name: task_140471
|
| data_files:
|
| - split: examples
|
| path: data/task_140471.parquet
|
| - config_name: long_horizon
|
| data_files:
|
| - split: examples
|
| path: data/long_horizon.parquet
|
| - config_name: pick
|
| data_files:
|
| - split: examples
|
| path: data/pick.parquet
|
| - config_name: place
|
| data_files:
|
| - split: examples
|
| path: data/place.parquet
|
| tags:
|
| - robotics
|
| - video
|
| - simulation
|
| license_name: slab-license
|
| license_link: LICENSE
|
| ---
|
| # DynamicVLA Simulation Task Examples
|
|
|
| [打开 MP4 任务浏览页](https://travor278-dynamicvla-task-examples.static.hf.space/?task=0)
|
|
|
| DOM has 3 task families, not 3 task_index values: 140,932 structured instruction IDs and 207,306 episodes. This subset selects 6 demonstrations per family (18 total), preserving actual task_index/episode_index and structured instructions. All 3 published cameras are single-arm cameras: opposite, wrist, side, not top/left/right arms.
|
|
|
| 所有示例是完整 H.264 MP4。单臂相机保留官方名称：opst_cam / wrist_cam / side_cam。每条有同步合并视频、各路原视频与官方动作/状态 Parquet。
|
|
|
| 评估标准根据官方代码和文档整理；发布数据未保存逐条示教 success 标签，故 actual_episode_success 为 null。本文不编造 0–100 得分。
|
|
|
| | 官方 task_index | Task / instruction scenario | 分类 | 直接浏览 |
|
| |---|---|---|---|
|
| | 0 | Long Horizon · white box | Long-Horizon | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=0) |
|
| | 70 | Long Horizon · white box | Long-Horizon | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=70) |
|
| | 80 | Long Horizon · box with Tencent Logo | Long-Horizon | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=80) |
|
| | 135 | Long Horizon · plastic box | Long-Horizon | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=135) |
|
| | 196 | Long Horizon · box | Long-Horizon | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=196) |
|
| | 246 | Long Horizon · box | Long-Horizon | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=246) |
|
| | 10235 | Pick · the moving object with the lower initial velocity | Pick | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=10235) |
|
| | 10588 | Pick · the object in the middle from left to right at the start | Pick | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=10588) |
|
| | 42175 | Pick · the object moving in the robot's forward-left direction | Pick | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=42175) |
|
| | 42560 | Pick · lime | Pick | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=42560) |
|
| | 60569 | Pick · the object that is closest to the robot's left at the start | Pick | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=60569) |
|
| | 60993 | Pick · the object that is closest to the robot's left at the start | Pick | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=60993) |
|
| | 77322 | Place · moving-forward object | Place | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=77322) |
|
| | 77667 | Place · beer bottle | Place | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=77667) |
|
| | 108733 | Place · lemon | Place | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=108733) |
|
| | 111207 | Place · lemon | Place | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=111207) |
|
| | 140471 | Place · black cylinder water bottle | Place | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=140471) |
|
| | 140594 | Place · water bottle | Place | [打开](https://travor278-dynamicvla-task-examples.static.hf.space/?task=140594) |
|
|
|
| ## task_index=0 · Long Horizon · white box
|
|
|
| **Instruction:** Pick up the entire set of objects and place them in/on the white box.
|
|
|
| **Description:** Official DOM simulation scenario long-horizon_franka_apple00d_O03_00772319_1dc5-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "long_horizon",
|
| "objects": [
|
| "entire set of objects"
|
| ],
|
| "containers": [
|
| "white box",
|
| "box with Tesla Logo",
|
| "white box with Tesla Logo",
|
| "plastic box",
|
| "box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=0** · 194 frames / 7.76 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_000000/episode_000000/synchronized.mp4) · [opst_cam MP4](media/task_000000/episode_000000/opst_cam.mp4) · [wrist_cam MP4](media/task_000000/episode_000000/wrist_cam.mp4) · [side_cam MP4](media/task_000000/episode_000000/side_cam.mp4) · [官方轨迹](trajectories/task_000000/episode_000000.parquet)
|
|
|
| ## task_index=135 · Long Horizon · plastic box
|
|
|
| **Instruction:** Pick up the entire set of objects and place them in/on the plastic box.
|
|
|
| **Description:** Official DOM simulation scenario long-horizon_franka_apple08d_O03_00819030_04bc-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "long_horizon",
|
| "objects": [
|
| "entire set of objects"
|
| ],
|
| "containers": [
|
| "plastic box",
|
| "pink box",
|
| "pink plastic box",
|
| "box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=200** · 227 frames / 9.08 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_000135/episode_000200/synchronized.mp4) · [opst_cam MP4](media/task_000135/episode_000200/opst_cam.mp4) · [wrist_cam MP4](media/task_000135/episode_000200/wrist_cam.mp4) · [side_cam MP4](media/task_000135/episode_000200/side_cam.mp4) · [官方轨迹](trajectories/task_000135/episode_000200.parquet)
|
|
|
| ## task_index=196 · Long Horizon · box
|
|
|
| **Instruction:** Pick up the entire set of objects and place them in/on the box.
|
|
|
| **Description:** Official DOM simulation scenario long-horizon_franka_apple14d_O03_00888109_ee3b-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "long_horizon",
|
| "objects": [
|
| "entire set of objects"
|
| ],
|
| "containers": [
|
| "box",
|
| "pink box",
|
| "pink plastic box",
|
| "plastic box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=400** · 205 frames / 8.20 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_000196/episode_000400/synchronized.mp4) · [opst_cam MP4](media/task_000196/episode_000400/opst_cam.mp4) · [wrist_cam MP4](media/task_000196/episode_000400/wrist_cam.mp4) · [side_cam MP4](media/task_000196/episode_000400/side_cam.mp4) · [官方轨迹](trajectories/task_000196/episode_000400.parquet)
|
|
|
| ## task_index=246 · Long Horizon · box
|
|
|
| **Instruction:** Pick up the fusiform avocado and place it in/on the box.
|
|
|
| **Description:** Official DOM simulation scenario long-horizon_franka_avocado00d_O03_00769598_7aed-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "long_horizon",
|
| "objects": [
|
| "fusiform avocado",
|
| "the object that is closer to the robot's right at the start",
|
| "the object moving in the robot's forward-left direction",
|
| "green avocado",
|
| "green fusiform avocado",
|
| "avocado",
|
| "the moving object with the highest initial velocity"
|
| ],
|
| "containers": [
|
| "box",
|
| "green box",
|
| "plastic box",
|
| "green plastic box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=600** · 220 frames / 8.80 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_000246/episode_000600/synchronized.mp4) · [opst_cam MP4](media/task_000246/episode_000600/opst_cam.mp4) · [wrist_cam MP4](media/task_000246/episode_000600/wrist_cam.mp4) · [side_cam MP4](media/task_000246/episode_000600/side_cam.mp4) · [官方轨迹](trajectories/task_000246/episode_000600.parquet)
|
|
|
| ## task_index=80 · Long Horizon · box with Tencent Logo
|
|
|
| **Instruction:** Pick up the entire set of objects and place them in/on the box with Tencent Logo.
|
|
|
| **Description:** Official DOM simulation scenario long-horizon_franka_avocado04d_O03_00878095_8d75-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "long_horizon",
|
| "objects": [
|
| "entire set of objects"
|
| ],
|
| "containers": [
|
| "box with Tencent Logo",
|
| "plastic box",
|
| "box",
|
| "white box",
|
| "white box with Tencent Logo"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=800** · 232 frames / 9.28 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_000080/episode_000800/synchronized.mp4) · [opst_cam MP4](media/task_000080/episode_000800/opst_cam.mp4) · [wrist_cam MP4](media/task_000080/episode_000800/wrist_cam.mp4) · [side_cam MP4](media/task_000080/episode_000800/side_cam.mp4) · [官方轨迹](trajectories/task_000080/episode_000800.parquet)
|
|
|
| ## task_index=70 · Long Horizon · white box
|
|
|
| **Instruction:** Pick up the entire set of objects and place them in/on the white box.
|
|
|
| **Description:** Official DOM simulation scenario long-horizon_franka_beer01d_O03_00794991_f96b-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "long_horizon",
|
| "objects": [
|
| "entire set of objects"
|
| ],
|
| "containers": [
|
| "white box",
|
| "white box with Tencent Logo",
|
| "box",
|
| "box with Tencent Logo",
|
| "plastic box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=1000** · 209 frames / 8.36 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_000070/episode_001000/synchronized.mp4) · [opst_cam MP4](media/task_000070/episode_001000/opst_cam.mp4) · [wrist_cam MP4](media/task_000070/episode_001000/wrist_cam.mp4) · [side_cam MP4](media/task_000070/episode_001000/side_cam.mp4) · [官方轨迹](trajectories/task_000070/episode_001000.parquet)
|
|
|
| ## task_index=10235 · Pick · the moving object with the lower initial velocity
|
|
|
| **Instruction:** Pick up the moving object with the lower initial velocity.
|
|
|
| **Description:** Official DOM simulation scenario pick_franka_avocado01d_O03_01140437_873f-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "pick",
|
| "objects": [
|
| "the moving object with the lower initial velocity",
|
| "green avocado",
|
| "avocado",
|
| "green long fusiform avocado",
|
| "long fusiform avocado",
|
| "the object that is closer to the robot's right at the start"
|
| ],
|
| "containers": [
|
| "tray",
|
| "white tray with CapitaLand logo",
|
| "white tray",
|
| "tray with CapitaLand logo"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=16460** · 83 frames / 3.32 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_010235/episode_016460/synchronized.mp4) · [opst_cam MP4](media/task_010235/episode_016460/opst_cam.mp4) · [wrist_cam MP4](media/task_010235/episode_016460/wrist_cam.mp4) · [side_cam MP4](media/task_010235/episode_016460/side_cam.mp4) · [官方轨迹](trajectories/task_010235/episode_016460.parquet)
|
|
|
| ## task_index=10588 · Pick · the object in the middle from left to right at the start
|
|
|
| **Instruction:** Pick up the object in the middle from left to right at the start.
|
|
|
| **Description:** Official DOM simulation scenario pick_franka_avocado02d_O04_01042912_e0d2-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "pick",
|
| "objects": [
|
| "the object in the middle from left to right at the start",
|
| "green avocado",
|
| "avocado",
|
| "pear-shaped long avocado",
|
| "green pear-shaped long avocado",
|
| "the object farthest from the robot mounting edge at the start"
|
| ],
|
| "containers": [
|
| "square placemat features a bold, stylized illustration of a tui",
|
| "Square placemat with a bold, stylized tui",
|
| "square placemat",
|
| "square placemat with yellow background"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=16837** · 89 frames / 3.56 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_010588/episode_016837/synchronized.mp4) · [opst_cam MP4](media/task_010588/episode_016837/opst_cam.mp4) · [wrist_cam MP4](media/task_010588/episode_016837/wrist_cam.mp4) · [side_cam MP4](media/task_010588/episode_016837/side_cam.mp4) · [官方轨迹](trajectories/task_010588/episode_016837.parquet)
|
|
|
| ## task_index=42175 · Pick · the object moving in the robot's forward-left direction
|
|
|
| **Instruction:** Pick up the object moving in the robot's forward-left direction.
|
|
|
| **Description:** Official DOM simulation scenario pick_franka_lime00d_O03_01174264_30d7-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "pick",
|
| "objects": [
|
| "the object moving in the robot's forward-left direction",
|
| "dark green lime",
|
| "the object that is closer to the robot's right at the start",
|
| "the object closer to the robot mounting edge at the start",
|
| "lime"
|
| ],
|
| "containers": [
|
| "tray",
|
| "tray with Meta logo",
|
| "white tray",
|
| "white tray with Meta logo"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=51235** · 87 frames / 3.48 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_042175/episode_051235/synchronized.mp4) · [opst_cam MP4](media/task_042175/episode_051235/opst_cam.mp4) · [wrist_cam MP4](media/task_042175/episode_051235/wrist_cam.mp4) · [side_cam MP4](media/task_042175/episode_051235/side_cam.mp4) · [官方轨迹](trajectories/task_042175/episode_051235.parquet)
|
|
|
| ## task_index=42560 · Pick · lime
|
|
|
| **Instruction:** Pick up the lime.
|
|
|
| **Description:** Official DOM simulation scenario pick_franka_lime00d_O05_01312751_5a1e-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "pick",
|
| "objects": [
|
| "lime",
|
| "dark green lime"
|
| ],
|
| "containers": [
|
| "the box with the larger volume",
|
| "the box closer to the robot at the start",
|
| "the box that is closer to the robot's right at the start",
|
| "the box with the larger area",
|
| "red box",
|
| "the box farther from the robot mounting edge at the start",
|
| "box with MMLab At NTU words",
|
| "plastic box",
|
| "the taller box",
|
| "red box with MMLab At NTU words",
|
| "box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=51658** · 87 frames / 3.48 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_042560/episode_051658/synchronized.mp4) · [opst_cam MP4](media/task_042560/episode_051658/opst_cam.mp4) · [wrist_cam MP4](media/task_042560/episode_051658/wrist_cam.mp4) · [side_cam MP4](media/task_042560/episode_051658/side_cam.mp4) · [官方轨迹](trajectories/task_042560/episode_051658.parquet)
|
|
|
| ## task_index=60569 · Pick · the object that is closest to the robot's left at the start
|
|
|
| **Instruction:** Pick up the object that is closest to the robot's left at the start.
|
|
|
| **Description:** Official DOM simulation scenario pick_franka_tangerine00d_O04_01057450_ee6d-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "pick",
|
| "objects": [
|
| "the object that is closest to the robot's left at the start",
|
| "tangerine"
|
| ],
|
| "containers": [
|
| "pink plastic box",
|
| "pink box",
|
| "box",
|
| "plastic box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=71104** · 95 frames / 3.80 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_060569/episode_071104/synchronized.mp4) · [opst_cam MP4](media/task_060569/episode_071104/opst_cam.mp4) · [wrist_cam MP4](media/task_060569/episode_071104/wrist_cam.mp4) · [side_cam MP4](media/task_060569/episode_071104/side_cam.mp4) · [官方轨迹](trajectories/task_060569/episode_071104.parquet)
|
|
|
| ## task_index=60993 · Pick · the object that is closest to the robot's left at the start
|
|
|
| **Instruction:** Pick up the object that is closest to the robot's left at the start.
|
|
|
| **Description:** Official DOM simulation scenario pick_franka_tangerine03d_O04_01097900_93cd-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires object-to-end-effector distance < tolerance and end-effector-to-configured-goal distance < tolerance. The current default tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "pick",
|
| "objects": [
|
| "the object that is closest to the robot's left at the start",
|
| "tangerine"
|
| ],
|
| "containers": [
|
| "tray",
|
| "white tray",
|
| "tray with NTU logo",
|
| "white tray with NTU logo"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=71578** · 85 frames / 3.40 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_060993/episode_071578/synchronized.mp4) · [opst_cam MP4](media/task_060993/episode_071578/opst_cam.mp4) · [wrist_cam MP4](media/task_060993/episode_071578/wrist_cam.mp4) · [side_cam MP4](media/task_060993/episode_071578/side_cam.mp4) · [官方轨迹](trajectories/task_060993/episode_071578.parquet)
|
|
|
| ## task_index=77322 · Place · moving-forward object
|
|
|
| **Instruction:** Pick up the moving-forward object and place it in/on the ceramic plate with blue floral patterns.
|
|
|
| **Description:** Official DOM simulation scenario place_franka_beer03d_O02_00082428_f57d-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "place",
|
| "objects": [
|
| "moving-forward object",
|
| "light color beer bottle with Heineken carvings",
|
| "beer bottle with Heineken carvings",
|
| "beer bottle",
|
| "moving-backward-left object",
|
| "moving-backward-right object",
|
| "moving-right object",
|
| "light color beer bottle",
|
| "moving-backward object",
|
| "moving-left object"
|
| ],
|
| "containers": [
|
| "ceramic plate with blue floral patterns",
|
| "ceramic plate",
|
| "plate",
|
| "plate with blue floral patterns"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=98470** · 111 frames / 4.44 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_077322/episode_098470/synchronized.mp4) · [opst_cam MP4](media/task_077322/episode_098470/opst_cam.mp4) · [wrist_cam MP4](media/task_077322/episode_098470/wrist_cam.mp4) · [side_cam MP4](media/task_077322/episode_098470/side_cam.mp4) · [官方轨迹](trajectories/task_077322/episode_098470.parquet)
|
|
|
| ## task_index=77667 · Place · beer bottle
|
|
|
| **Instruction:** Pick up the beer bottle and place it in/on the placemat that is closer to the robot's left at the start.
|
|
|
| **Description:** Official DOM simulation scenario place_franka_beer03d_O04_00340177_6e45-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "place",
|
| "objects": [
|
| "beer bottle",
|
| "the object that is closer to the robot's left at the start",
|
| "beer bottle with Heineken carvings",
|
| "light color beer bottle",
|
| "the moving object with the highest initial velocity",
|
| "light color beer bottle with Heineken carvings"
|
| ],
|
| "containers": [
|
| "the placemat that is closer to the robot's left at the start",
|
| "green square placemat",
|
| "the placemat closer to the robot mounting edge at the start",
|
| "square placemat"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=98947** · 117 frames / 4.68 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_077667/episode_098947/synchronized.mp4) · [opst_cam MP4](media/task_077667/episode_098947/opst_cam.mp4) · [wrist_cam MP4](media/task_077667/episode_098947/wrist_cam.mp4) · [side_cam MP4](media/task_077667/episode_098947/side_cam.mp4) · [官方轨迹](trajectories/task_077667/episode_098947.parquet)
|
|
|
| ## task_index=108733 · Place · lemon
|
|
|
| **Instruction:** Pick up the lemon and place it in/on the tray.
|
|
|
| **Description:** Official DOM simulation scenario place_franka_lemon06d_O02_00026504_29ce-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "place",
|
| "objects": [
|
| "lemon"
|
| ],
|
| "containers": [
|
| "tray",
|
| "white tray with HSBC logo",
|
| "tray with HSBC logo",
|
| "white tray"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=153474** · 108 frames / 4.32 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_108733/episode_153474/synchronized.mp4) · [opst_cam MP4](media/task_108733/episode_153474/opst_cam.mp4) · [wrist_cam MP4](media/task_108733/episode_153474/wrist_cam.mp4) · [side_cam MP4](media/task_108733/episode_153474/side_cam.mp4) · [官方轨迹](trajectories/task_108733/episode_153474.parquet)
|
|
|
| ## task_index=111207 · Place · lemon
|
|
|
| **Instruction:** Pick up the lemon and place it in/on the placemat farther from the robot mounting edge at the start.
|
|
|
| **Description:** Official DOM simulation scenario place_franka_lemon06d_O04_00340971_5a64-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "place",
|
| "objects": [
|
| "lemon",
|
| "the object that is closer to the robot's right at the start",
|
| "the object moving in the robot's backward-left direction",
|
| "the moving object with the highest initial velocity"
|
| ],
|
| "containers": [
|
| "the placemat farther from the robot mounting edge at the start",
|
| "green square placemat"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=154278** · 110 frames / 4.40 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_111207/episode_154278/synchronized.mp4) · [opst_cam MP4](media/task_111207/episode_154278/opst_cam.mp4) · [wrist_cam MP4](media/task_111207/episode_154278/wrist_cam.mp4) · [side_cam MP4](media/task_111207/episode_154278/side_cam.mp4) · [官方轨迹](trajectories/task_111207/episode_154278.parquet)
|
|
|
| ## task_index=140594 · Place · water bottle
|
|
|
| **Instruction:** Pick up the water bottle and place it in/on the bowl.
|
|
|
| **Description:** Official DOM simulation scenario place_franka_wbottle23d_O02_00046150_50a0-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "place",
|
| "objects": [
|
| "water bottle",
|
| "cylinder water bottle",
|
| "cylinder water bottle with grey and orange lid",
|
| "black cylinder water bottle",
|
| "black cylinder water bottle with grey and orange lid",
|
| "black water bottle",
|
| "black water bottle with grey and orange lid",
|
| "water bottle with grey and orange lid"
|
| ],
|
| "containers": [
|
| "bowl",
|
| "wooden bowl",
|
| "shallow bowl",
|
| "wooden shallow bowl"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=206737** · 124 frames / 4.96 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_140594/episode_206737/synchronized.mp4) · [opst_cam MP4](media/task_140594/episode_206737/opst_cam.mp4) · [wrist_cam MP4](media/task_140594/episode_206737/wrist_cam.mp4) · [side_cam MP4](media/task_140594/episode_206737/side_cam.mp4) · [官方轨迹](trajectories/task_140594/episode_206737.parquet)
|
|
|
| ## task_index=140471 · Place · black cylinder water bottle
|
|
|
| **Instruction:** Pick up the black cylinder water bottle and place it in/on the black box.
|
|
|
| **Description:** Official DOM simulation scenario place_franka_wbottle23d_O02_00120780_166a-tr. Object/container aliases are preserved in the metadata.
|
|
|
| **Success / evaluation:** Success requires ALL target objects to satisfy the container-relative geometric placement check, and the end effector to return within tolerance of the configured goal. Current default return tolerance is 0.015 m; per-scene overrides may differ.
|
|
|
| [官方说明](https://github.com/hzxie/DynamicVLA/blob/434dc7105cf6d559018d15af5fecbcdad44f036e/simulations/configs/termination_cfg.py)
|
|
|
| 结构化原始 instruction（完整别名）：
|
|
|
| ```json
|
| {
|
| "task": "place",
|
| "objects": [
|
| "black cylinder water bottle",
|
| "cylinder water bottle with grey and orange lid",
|
| "black water bottle",
|
| "water bottle",
|
| "black cylinder water bottle with grey and orange lid",
|
| "cylinder water bottle",
|
| "black water bottle with grey and orange lid",
|
| "water bottle with grey and orange lid"
|
| ],
|
| "containers": [
|
| "black box",
|
| "box",
|
| "plastic box",
|
| "black plastic box"
|
| ]
|
| }
|
| ```
|
|
|
| 根据官方结构化 instruction 和首个别名确定性呈现；原记录没有保存采集时使用的具体随机语言变体，完整别名见下方元数据。
|
|
|
| **episode_index=207108** · 105 frames / 4.20 s
|
|
|
| 
|
|
|
| [同步 MP4](media/task_140471/episode_207108/synchronized.mp4) · [opst_cam MP4](media/task_140471/episode_207108/opst_cam.mp4) · [wrist_cam MP4](media/task_140471/episode_207108/wrist_cam.mp4) · [side_cam MP4](media/task_140471/episode_207108/side_cam.mp4) · [官方轨迹](trajectories/task_140471/episode_207108.parquet)
|
|
|
| ## 来源、许可与复现
|
|
|
| 官方数据：[原仓库](https://huggingface.co/datasets/hzxie/DOM) · 固定 revision `bbf6baa15f7253746d271a6e958e037afa537b1e`。
|
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| 官方代码：[GitHub](https://github.com/hzxie/DynamicVLA) · revision `434dc7105cf6d559018d15af5fecbcdad44f036e`。
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| 遵循上游 S-Lab License 1.0，仅允许非商业用途；见 LICENSE。
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| 选择性提取记录、原始时间区间、task/episode 对应、相机元数据和校验均在 `provenance/`。不下载场景资产、模型权重或完整数据仓库。
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| 复现脚本：`scripts/build_examples.py`。浏览页源码另见 `browser/` 和 `scripts/build_browser.py`。
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