| --- |
| pretty_name: pp-bench |
| tags: [LeRobot, robotics, manipulation, pick-and-place, simulation] |
| task_categories: [robotics] |
| --- |
| |
| # pp-bench |
|
|
| Simulated pick-and-place demonstrations of RoboStudio's Galaxea R1 Pro (`r1pro_rs`, a driving base) |
| on ManiSkill3 / SAPIEN, from HQ-Bench's `PickPlace-v1`. One LeRobot v3.0 dataset per task, in a |
| folder named after it. |
|
|
| - 20 Hz, joint-position actions (23) and state (28); three cameras, head and both wrists, 224x224, |
| path-traced (`rt-med`). |
| - Each episode has its own instruction ("Put the tissue box in the box."). |
| - Per task 100 episodes with no clutter (T0) and 25 at each clutter level T1, T2, T3 and TH. |
| - A demonstration is kept when the scripted planner solves it with RoboStudio's collision gate at |
| "ok", the success held for 10 steps, and no arm or torso joint moving over 0.5 rad in a step. |
|
|
| | folder | task | episodes | |
| |---|---|---| |
| | PP02 | Put the {object} in the {box}. | 200 | |
| | PP05 | Put the {object} on the top shelf. | 200 | |
| | PP08 | Take the {object} from the shelf and put it on the table. | 200 | |
| | MS24 | Put the bottles on the {shelf} and the cups in the {box}. | 191 (16 TH) | |
| | MS25 | Tidy up: put the toys in the {box} and throw the trash in the {bin}. | 200 | |
| | PP01 | Put the {object} on/in the {dish}. | 200 | |
| | PP03 | Throw the {object} into the small trash bin on the table. | 200 | |
| | PP04 | Drop the {object} into the trash bin next to the table. | 200 | |
| | MO19 | Throw the trash in the {bin} and leave everything else. | 200 | |
|
|
| `eval_seeds.json` lists 21 evaluation setups per task (10 at T0, 3 each at T1-T3, 2 at TH), seeds from |
| the evaluation bank, every one solved cleanly by the planner: `gym.make("PickPlace-v1", task=..., |
| clutter=...)`, then `reset(seed=...)`. |
|
|
| At TH the way to the target is closed: an obstructor stands in its approach lane and one at its |
| side, and the robot sets them aside first. (On PP08 the target starts on a shelf, so its TH is |
| clutter without obstructors.) |
|
|
| **Correction, 2026-11-09.** Until this date most episodes carried another episode's instruction: |
| the export labelled them in numeric trajectory order, the converter numbers them alphabetically |
| (PP02 197/200 wrong, PP05 195/200, PP08 167/175, MS24 149/175, MS25 147/175). Every episode was |
| relabelled from its own recording, matched by its actions; frames, actions and states were right |
| and are unchanged. Data downloaded before then should be fetched again. |
|
|
