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meta/dataset_description.md

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+Expert stacking demonstrations in the mj_pick_block MuJoCo Franka Panda scene (recipe `stack_red_yellow`). 400 episodes at 50 Hz: 200 `stack_red_on_yellow` then 200 `stack_yellow_on_red`. Language labels are split evenly across each policy's phrases (contiguous blocks, specification order).
+
+Episode index → instruction:
+
+0-199: stack_red_on_yellow
+- 0-49: stack the red block on the yellow block
+- 50-99: stack the red block on the other
+- 100-149: put the red block on top of the yellow block
+- 150-199: put the red block on the other
+
+200-399: stack_yellow_on_red
+- 200-249: stack the yellow block on the red block
+- 250-299: stack the yellow block on the other
+- 300-349: put the yellow block on top of the red block
+- 350-399: put the yellow block on the other
+
+- **Control rate:** 50 Hz
+- **Frames:** `action.ee.delta_xyz` is a gripper-site translation in the MuJoCo world frame (meters). `action.ee.orientation` is the first two rows of the gripper site's **world-frame** rotation matrix (site axes expressed in world).
+- **Observations:** `observation.image.front`, `observation.image.wrist` (224×224 RGB); `observation.state` is 7 arm joint positions plus gripper opening in `[0, 1]` (0 = closed, 1 = open)
+- **Scene init:** repeated each frame; MuJoCo free-joint qpos `[x, y, z, qw, qx, qy, qz]` at episode start:
+  - `scene_init.block_red.pose`: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
+  - `scene_init.block_yellow.pose`: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
+- **Gripper:** target opening in `[0, 1]` (0 = closed, 1 = open)
+- **Recorded actions:**
+  - `action.ee.delta_xyz`: shape (3,), names ['dx', 'dy', 'dz']
+  - `action.ee.orientation`: shape (6,), names ['r00', 'r01', 'r02', 'r10', 'r11', 'r12']
+  - `action.joint.delta_angles`: shape (7,), names ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7']
+  - `action.gripper.target`: shape (1,), names ['gripper']

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meta/info.json

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+{
+    "codebase_version": "v3.0",
+    "fps": 50,
+    "features": {
+        "observation.image.front": {
+            "dtype": "image",
+            "shape": [
+                3,
+                224,
+                224
+            ],
+            "names": [
+                "C",
+                "H",
+                "W"
+            ]
+        },
+        "observation.image.wrist": {
+            "dtype": "image",
+            "shape": [
+                3,
+                224,
+                224
+            ],
+            "names": [
+                "C",
+                "H",
+                "W"
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+        "observation.state": {
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+            "names": [
+                "D_state"
+            ]
+        },
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+            "shape": [
+                3
+            ],
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+                "dy",
+                "dz"
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+            "names": [
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+                "r01",
+                "r02",
+                "r10",
+                "r11",
+                "r12"
+            ]
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+        "action.joint.delta_angles": {
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+            "names": [
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+                "joint3",
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+                "joint6",
+                "joint7"
+            ]
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+            "names": [
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+        "scene_init.block_red.pose": {
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+        "episode_index": {
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+        "index": {
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
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+    },
+    "total_episodes": 400,
+    "total_frames": 187005,
+    "total_tasks": 8,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "robot_type": "panda",
+    "splits": {
+        "train": "0:400"
+    }
+}

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