QLM-Bench

QLM-Bench provides quadrupedal loco-manipulation task environments, scripted data creation and a physical interface for external high-level policies. The current system uses a fixed Unitree Go2, the front-left manipulation leg, the original RAMBO whole-body controller and native9 commands with zero desired force. The three current tasks are Push Box, Lift Basket and Press Button.

This dataset repository currently contains 90 frozen usable scripted demonstrations in four independent releases, their Raw/Canonical data, provenance and replay. The catalogue and episode discovery index point to those existing releases. The index is metadata, not a combined training split or a model-input table. Physical execution, resource loading, CPU data tools and policy-independent evaluation interfaces are separate code responsibilities.

The initial catalogue metadata update is bound to QLM source commit b9be357048ae350dd006eef9c95b4c84b7ec4e45 on the quadruped/native9 synthesis branch. The frozen source/specification snapshots record that committed source and content identity. Existing demonstration releases remain unchanged; this update adds discovery metadata and declarative snapshots.

Local checks cover CPU fixed-data compatibility and bounded three-task Isaac runtime lifecycle/regression paths. The public collection path has also completed a 32-command diagnostic attempt with validated Raw/Canonical/media and an explicit timeout; that attempt is local-only and is not an eligible new demonstration. These checks do not establish whole-task success rates, a reconstruction-verified benchmark suite, WAM learned-policy closed-loop inference or a formal score. The initial catalogue-only update introduced no asset payload, case set, result release or new demonstration. The subsequent Normal20 release below adds20 usable demonstrations.

Existing demonstration releases

Task	Release	Episodes / actions	Standalone train / validation / test
Push Box	DATA-006-20260916T075451Z	50 / 24,335	40 / 5 / 5
Lift Basket	DATA-009-local-ten-20260926T130524Z	10 / 7,042	8 / 1 / 1
Press Button	DATA-010-20260926T073438Z	10 / 5,194	8 / 1 / 1
Push Box · Normal supplement	QLM-DATA-001-20261008-normal-v2	20 / 9,569	20 / 0 / 0

The historical entries in the release index, their release manifests, payload bytes, episode/attempt identities, source mapping, timestamps and splits remain unchanged. New entries are appended. Only usable demonstration Raw/Canonical and corresponding evidence/replay belong to the historical releases. Pilots, failed/quarantined collection attempts, model weights/caches and training artifacts remain excluded. This demonstration eligibility rule does not filter future evaluation trial outcomes: a result release must retain its complete predeclared trial table, including failures and exceptions.

Push Box instruction: Push the box into the target area. Success uses the full XY envelope of all eight pose-transformed source-box corners inside that episode's goal, with the robot not fallen for three consecutive 50 Hz ticks. Roll/pitch are part of the geometry; contact is diagnostic/unknown and is not a gate. The original ten DATA-005 episodes and their 8/1/1 split remain present; forty DATA-006 additions produce the existing 40/5/5 total. Original resource/scenario variations and per-attempt source hashes stay in the release metadata.

Lift Basket instruction: Lift the basket. Success uses actual whole-basket minimum clearance of at least 2 cm, not fallen, for three consecutive 50 Hz ticks. Accepted demonstrations thread the complete FL foot before lifting. Only initial XY varies in this ten-episode release. The first two episodes retain the accepted visibility-gated expert; the remaining eight remove visibility blocking following user clarification. Partial ego cropping remains disclosed and diagnostic. Old 6 cm pilots, other pilots and the interrupted attempt are excluded and are not relabeled.

Press Button instruction: Press the button. Success uses the accepted axial button displacement threshold of 12 mm and a three-tick hold, with the robot not fallen. Industrial and emergency-stop source assets, cap-color/scenario variations, fixed cameras/controller and original task parameters are recorded per episode. The existing release acceptance and source fingerprints remain the authority.

Read an explicit release

Storage schema remains wam-quadruped-v2.1.0, LeRobot codebase v2.1 and the original native9 action identity rambo-native9-v2. Raw contains N+1 boundaries; Canonical contains N action rows and paired 50 Hz RGB frames plus separately saved pre-reset terminal state/two RGB PNGs. Controller/physics rates are 100/500 Hz. Observer RGB is 25 Hz and diagnostic-only. Timestamps are authoritative source simulation_time_ns; they are not synthesized from frame indices.

Download one fixed revision and explicit Canonical root, including its release manifest:

from huggingface_hub import snapshot_download
snapshot = snapshot_download(
    repo_id="dontKnow23456/QLM-Bench", repo_type="dataset",
    revision="4b5e0ed9aa04cbc1143774798f63171b27d838a7",
    allow_patterns=[
        "canonical/lerobot_v2_1/DATA-006-20260916T075451Z/**",
        "releases/DATA-006-20260916T075451Z/manifest.json",
    ],
)

Read data only from that Canonical root using its schema. Do not recursively scan all Parquet files in this repository; the discovery table, future cases and future results are separate resource types. The dedicated demonstration_index viewer configuration contains episode references only. Original model-specific caches and normalizers remain consumer-owned and outside Canonical.

For three-view Raw replay, download the selected full pinned release, serve the snapshot directory with python -m http.server, and open that release's releases/<release>/review/index.html. Historical replay paths remain portable and unchanged. No old video or terminal image is re-encoded by this catalogue update.

Push Box Normal20 supplement · 2026-10-12

QLM-DATA-001-20261008-normal-v2 adds20 successful Normal demonstrations (slots push_box__ep0081–push_box__ep0100),9,569 completed 50Hz native9 actions, original dual-view50Hz RGB and25Hz observer videos. Box01 and Box04 each contribute10 episodes; all use the frozen Randomized/ap_03 conditions. Continuous phase handoff removes the earlier abrupt FL target retraction. Full-footprint/not-fallen/three-tick success, terminal-before-reset, Raw/Canonical/media validation and initial object visibility checks passed.

This is a train-only supplement:20 train,0 validation,0 test, retaining the original slot assignments. It does not complete the planned100-episode task, provide the requested new Recovery quota or automatically create a combined training/evaluation split. It is publication_only for the historical first WAM v2/v3 runs; their original dataset revision, caches and normalizers are unchanged. Only accepted trajectories are included. Failed/interrupted attempts, retry logs, earlier unapproved Normal/Recovery data, assets and model payloads remain excluded.

Publication source: QLM commit189545f, branch scaleup/v1/push_box. Actual collection source commits and dirty-source hashes remain preserved per episode; publication does not relabel their provenance. Immutable payload revision: 87f877910effbae4d20427d9243296d0f9cd4a58.

• Canonical collection
• Raw data and all three camera views
• Portable three-view replay
• Canonical replay and terminal frames

For local replay, download this release at the payload revision, serve the snapshot root with a local HTTP server and open its review HTML. Video files are retained without additional preview re-encoding.

Historical WAM first-run input declaration

First WAM adaptation v2 and v3 training, validation, test and evaluation remain Push Box only: revision 4b5e0ed9aa04cbc1143774798f63171b27d838a7, release DATA-006-20260916T075451Z, exactly 50 episodes and the original 40/5/5 split. The dataset manifest and Canonical inventory are pinned by content hash in the compatibility metadata. Existing model inputs and action/proprioception normalization remain unchanged. WAM's historical 12.5 Hz RGB sampling and latent grouping remain WAM preprocessing behavior, not a new benchmark requirement for every external policy.

Lift Basket and Press Button are publication_only for those first runs and are excluded from their TRAIN/EVAL inputs. Their 8/1/1 splits do not expand that scope. These are historical experiment-use declarations; they do not restrict future independent use of the three task releases. There is no combined 70-episode WAM first-run split. Integrity readback and scripted task success are not learned-policy evaluation.

Resource and evaluation publication boundaries

Code owns TaskSpec, physical/runtime profiles, resource resolver and metric rules. Large asset payloads require a complete dependency inventory, source/runtime hashes and verified redistribution terms before being selected for a resource release. No asset binary is included in this metadata update: Push Box source-license clarification, OASIS redistribution terms/runtime shader closure and any remaining resource publication checks are tracked separately. Button source declarations/attribution also do not grant a license to the entire dataset. The existing RAMBO controller remains an external, fixed third-party model dependency and is not mirrored here.

No reconstruction-verified formal EvalCase suite or official result release is published by this metadata update. Source snapshots are generated from the committed QLM declarations and bound to b9be357048ae350dd006eef9c95b4c84b7ec4e45; no formal evaluation protocol is silently added. Empty cases/results or engineering test fixtures are not inserted as published resources. Future results must declare protocol, suite/cases, assets/runtime/controller, policy/code/checkpoint/adapter identities, expected trials, retry/error rules and complete outcomes before a score is considered available. Horizon, seed count and cross-task aggregation are not silently assigned by this catalogue.

License, attribution and provenance

The dataset remains public with license: unknown. Data license clarification is pending; public visibility is not an additional license grant. Source-code, third-party asset, controller-model and demonstration-data licenses are distinct. No new authors, paper acceptance or official benchmark release is claimed here.

Box source: 1057822006-svg/usd-cardboard-box-assets, release v0.1 at cb386b4cba6c6adf2d42b54be37a78f9d4f01589; its README recommends CC BY 4.0 and requests attribution. The historical source manifest's pending approval field retains its acquisition-time meaning. Basket source: TeleHuman/OASIS. Button sources are the Industrial Button listing by Mark/@mark_saba (embedded USDZ credits Zeppelin) and Emergency Stop Button by Miljan Bojovic/phoenix-storms; the official source CC BY 4.0 declarations and both industrial-author attributions remain recorded. Robot: Unitree Go2. Whole-body controller: RAMBO/CRL2 upstream.

Original release evidence, task acceptance, source/checkpoint hashes and camera parameters remain under each release's immutable manifest/evidence paths. This initial catalogue update changed discovery metadata, source/specification snapshots and the introductory card; it did not rewrite the provenance of past runs or redistribute their third-party asset binaries.