Datasets:

dontKnow23456
/

QLM-Bench

@@ -9,117 +9,169 @@ tags:
 - lerobot
 size_categories:
 - n<1K
 ---
 # QLM-Bench
-Quadrupedal loco-manipulation demonstrations generated with Go2, a single FL manipulation leg, the existing RAMBO controller, native9 commands and ego + task RGB. The dataset is public; **the dataset license is pending (`unknown`)**. Public access is not an additional license grant.
-## First adaptation training/evaluation boundary
-**The first WAM adaptation v2 and v3 training, validation, test and evaluation are
-Push Box only**: fixed revision `4b5e0ed9aa04cbc1143774798f63171b27d838a7`, release `DATA-006-20260916T075451Z`,
-the original 50 episode identities and 40/5/5 split. Keep first-run download commands
-and preprocessing/training/evaluation configs pinned to that revision and release.
-Do not substitute Hub `main`, the newest publication revision or every release in
-this catalogue. There is no combined 70-episode adaptation training split.
-The Lift Basket and Press Button releases below are **publication_only for current
-adaptation use**, and explicitly excluded from those first runs. Their independent
-8/1/1 splits are standalone dataset metadata, not TRAIN/EVAL input admission.
-This current-use declaration does not restrict future independent use.
-Integrity readback and successful scripted demonstrations are not learned-model evaluation.
-## Releases
-| Release | Task | Usable episodes | Actions | Train / validation / test |
-|---|---|---:|---:|---|
-| [DATA-006-20260916T075451Z](releases/DATA-006-20260916T075451Z/manifest.json) | Push Box | 50 | 24,335 | 40 / 5 / 5 |
-| [DATA-009-local-ten-20260926T130524Z](releases/DATA-009-local-ten-20260926T130524Z/manifest.json) | Lift Basket | 10 | 7,042 | 8 / 1 / 1 |
-| [DATA-010-20260926T073438Z](releases/DATA-010-20260926T073438Z/manifest.json) | Press Button | 10 | 5,194 | 8 / 1 / 1 |
-Payload revision: `21b69e2d775cd77d6565e25d1b0b99ad725b54b3`. See [release index](releases.json), [checksums](releases/DATA-006-20260916T075451Z/checksums.json), [distribution](releases/DATA-006-20260916T075451Z/distribution.json) and [acceptance](releases/DATA-006-20260916T075451Z/evidence/collection-acceptance.json).
-Only usable demonstration Raw/Canonical and associated evidence/replay are uploaded. Pilots, failed and quarantined attempts remain local and are not part of this repository's published payload. Existing release files are immutable; future releases use new directories. Model weights, asset source files, model caches and training artifacts are excluded.
-## Push Box task and demonstration source
-Instruction: **Push the box into the target area.**
-Success requires the entire XY footprint envelope of all eight transformed source-box corners inside the episode's goal, with the robot not fallen, for three consecutive 50Hz policy ticks. Footprint calculation accounts for roll/pitch. Contact is diagnostic/unknown, not a success gate; unavailable bool placeholders must not be interpreted as confirmed non-contact. Robot spawn remains the native origin; desired FL force and external object wrench remain zero.
-These are **scripted high-level demonstrations**, not manual teleoperation or learned-policy evaluation. The controller is unchanged. Ten original DATA-005 episodes retain their original8/1/1 split. Forty additional DATA-006 episodes add Box05/01/04, quarter-turn initial yaw, goal-border colors/geometry and smooth base/EEF command variations. Added splits32/4/4 give40/5/5. Durations are8.50–14.42s.
-The50 episodes include Box05/01/04 counts30/10/10 and initial yaw0/90/180/270 counts20/10/10/10. Motion labels:10 baseline,14 coordinated,13 leg-finish and13 body-finish. Leg-finish is a configuration label;12 of13 actually triggered its conditional finish phase. demo_13-a4 and demo_25-a4 executed stop-forward, left body shift and inward FL corner nudging. Natural object tilt/toppling and residual yaw are reported rather than hidden; box upright/contact/yaw thresholds are not success gates. No generalization or trained-policy performance claim is made.
-## Contract and storage
-Dataset schema `wam-quadruped-v2.1.0`; LeRobot codebase v2.1 / library0.3.3; action identity `rambo-native9-v2`. See [contract](releases/DATA-006-20260916T075451Z/evidence/dataset-contract.md).
-Native9: base vx, base vy, base yaw rate, FL position xyz, desired FL force xyz. Command/state units and frames are specified by the included action config and contract. Raw/canonical policy RGB/actions are50Hz; observer25Hz is review-only. Model RGB12.5Hz uses factor-four row selection with **inherited authoritative `simulation_time_ns`**, never frame-index-generated timestamps. Canonical containsN action rows andN paired video frames with a separate pre-reset terminal state and two terminal PNGs. Raw retainsN+1 boundaries. All published episodes passed terminal-before-reset. Observer is never a canonical training camera or model input.
-Canonical at `canonical/lerobot_v2_1/DATA-006-20260916T075451Z` is self-contained for model preprocessing. For the first Push Box adaptation runs, model normalization is fitted only on the40 training episodes; VAE/T5 caches stay outside the dataset and are regenerated locally. Historical source manifests retain original paths and identities; the release manifest supplies portable Hub paths and source mapping. The release is a versioned bundle: do not treat every Parquet in this repository as one flat Hugging Face training table.
-## Download and replay
 ```python
 from huggingface_hub import snapshot_download
-from pathlib import Path
-snapshot = Path(snapshot_download(
     repo_id="dontKnow23456/QLM-Bench", repo_type="dataset",
     revision="4b5e0ed9aa04cbc1143774798f63171b27d838a7",
-    allow_patterns=["canonical/lerobot_v2_1/DATA-006-20260916T075451Z/*"],
-))
-canonical_root = snapshot / "canonical/lerobot_v2_1/DATA-006-20260916T075451Z"
 ```
-Use explicit WAM/RAMBO resource paths with this `canonical_root`; keep model cache in a separate directory. Standard dataset-wide loading is not a substitute for the included native9 contract adapter.
-For portable three-view replay, download the full pinned revision (omit `allow_patterns`), serve the downloaded directory with `python -m http.server 8000`, and open `http://localhost:8000/releases/DATA-006-20260916T075451Z/review/index.html`. The static [replay files](releases/DATA-006-20260916T075451Z/review/index.html) use relative paths to published Raw videos. The Hub may download HTML rather than render it directly.
-## Attribution and provenance
-Box assets: [1057822006-svg/usd-cardboard-box-assets](https://github.com/1057822006-svg/usd-cardboard-box-assets), releasev0.1, commit`cb386b4cba6c6adf2d42b54be37a78f9d4f01589`. The source README recommends CC BY4.0 and requests creator attribution. Its statement concerns source assets and is not a declaration of this dataset's license. See [source attribution](releases/DATA-006-20260916T075451Z/evidence/asset-attribution-source.md) and [historical source manifest](releases/DATA-006-20260916T075451Z/evidence/asset-source-manifest-historical.json). The latter's pending-approval field records acquisition-time history, not current task acceptance. Task approval and actual runtime geometry are preserved in per-episode metadata.
-Robot: Unitree Go2; demonstrations use the existing RAMBO controller/checkpoint. Source/checkpoint hashes and camera/task parameters are retained per episode. RAMBO_Data owns simulation/publication; WAM-Policy owns model-side preprocessing/training. Model weights and third-party asset binaries are not redistributed here.
-## Lift Basket — DATA-009 publication
-Instruction: **Lift the basket.** Ten demonstrations, 7,042 actions, standalone 8/1/1 split.
-The existing OASIS basket is lifted by the FL foot through its handle. Success uses
-actual whole-basket transformed-geometry minimum clearance >=2cm, not fallen for
-three consecutive 50Hz policy ticks. All accepted episodes thread the complete foot
-before controlled lift. Only initial XY varies; assets, orientation/height, cameras,
-original controller and native9 force-zero remain fixed. Partial ego cropping is
-disclosed and diagnostic. The first two episodes used the accepted visibility-gated
-expert; the remaining eight removed visibility blocking after user clarification.
-Actual per-episode implementation hashes are retained. An interrupted attempt and
-all pilots stay excluded. Source basket binaries/textures are not redistributed.
-## Press Button — DATA-010 publication
-Instruction: **Press the button.** Ten demonstrations, 5,194 actions, standalone 8/1/1 split.
-Industrial/Emergency assets 5/5; baseline/early-stop configurations 5/5; red/blue/green/orange
-cap colors 3/3/2/2. Success requires real cap displacement >=12mm for Industrial or
->=10mm for Emergency, not fallen for three policy ticks. Contact stays unknown diagnostic.
-No relative housing/collar shift is applied; high-level EEF approach/hold controls
-overshoot. All ten succeeded on their first attempts. Motion labels describe configured
-modes; measured stopping distances overlap due to tracking effects and are not relabeled.
-The DATA-008 technical pilot remains local/excluded. The inherited
-`physically_executed_press=false` flag describes the earlier static asset review;
-actual demonstrations are established by capture/summary/physics/behavior evidence.
-Asset provenance: Industrial Button by mark_saba,
-[Sketchfab a7e7c1772d764c3b913cccac66932236](https://sketchfab.com/3d-models/a7e7c1772d764c3b913cccac66932236),
-and Emergency Stop Button by phoenix-storms,
-[Sketchfab 012e4809a41445ca9de17286f677fabb](https://sketchfab.com/3d-models/012e4809a41445ca9de17286f677fabb).
-Acquisition-time metadata reports CC BY4.0 for the source assets; original and embedded
-author metadata remain in per-episode provenance. This is not a dataset license grant.
-Source binaries are excluded and QLM-Bench dataset license remains unknown.
-## New-release download and replay
-For either new release, use its `payload_revision` from [releases.json](releases.json)
-and its own canonical prefix. Download that release's Raw videos and `releases/<id>/`
-directory to replay its relative-path three-view page. These publication paths must
-not replace the first adaptation download example above. Each release is independent;
-the catalogue must not be loaded as one flat Parquet training table.

 - lerobot
 size_categories:
 - n<1K
+configs:
+- config_name: demonstration_index
+  data_files:
+  - split: index
+    path: metadata/demonstration_index.parquet
 ---
 # 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 **70 frozen usable scripted
+demonstrations** in three independent releases, their Raw/Canonical data,
+provenance and replay. [The catalogue](catalog.json) and
+[episode discovery index](metadata/demonstration_index.json) 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.
+This metadata update is bound to [QLM source commit `b9be357048ae350dd006eef9c95b4c84b7ec4e45`](https://github.com/JalenLoong/QLM-Bench/tree/b9be357048ae350dd006eef9c95b4c84b7ec4e45) on the
+[quadruped/native9 synthesis branch](https://github.com/JalenLoong/QLM-Bench/tree/synthesis/v2_9D-action_ego%2Btask-centric_camera).
+The [frozen source/specification snapshots](metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/snapshot_manifest.json)
+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.
+No asset payload, case set, result release or new demonstration is introduced here.
+## Existing demonstration releases
+| Task | Release | Episodes / actions | Standalone train / validation / test |
+|---|---|---:|---|
+| Push Box | [DATA-006-20260916T075451Z](releases/DATA-006-20260916T075451Z/manifest.json) | 50 / 24,335 | 40 / 5 / 5 |
+| Lift Basket | [DATA-009-local-ten-20260926T130524Z](releases/DATA-009-local-ten-20260926T130524Z/manifest.json) | 10 / 7,042 | 8 / 1 / 1 |
+| Press Button | [DATA-010-20260926T073438Z](releases/DATA-010-20260926T073438Z/manifest.json) | 10 / 5,194 | 8 / 1 / 1 |
+The original [release index](releases.json), release manifests, payload bytes,
+episode/attempt identities, source mapping, timestamps and splits remain unchanged.
+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:
 ```python
 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.
+## 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](metadata/wam-first-adaptation-compatibility.json).
+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](https://github.com/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](https://github.com/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
+update changes discovery metadata, source/specification snapshots and the introductory card; it does not
+rewrite the provenance of past runs or redistribute their third-party asset binaries.

catalog.json ADDED Viewed

	@@ -0,0 +1,115 @@

+{
+  "schema": "qlm-catalog-v1",
+  "repo_id": "dontKnow23456/QLM-Bench",
+  "observed_revision": "05b09b89225759382e28bc3dc586f1cfb755a997",
+  "tasks": [
+    "push_box",
+    "lift_basket",
+    "press_button"
+  ],
+  "demonstrations": [
+    {
+      "task": "push_box",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "4b5e0ed9aa04cbc1143774798f63171b27d838a7",
+        "release": "DATA-006-20260916T075451Z",
+        "canonical_root": "canonical/lerobot_v2_1/DATA-006-20260916T075451Z",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/DATA-006-20260916T075451Z/manifest.json",
+        "manifest_sha256": "59793e0819476ab92fea902defb2394ff706191bc4fb146166bcc4d7827f31b3"
+      },
+      "episodes": 50,
+      "actions": 24335,
+      "split": {
+        "train": 40,
+        "validation": 5,
+        "test": 5
+      },
+      "status": "verified",
+      "scope": "usable_demonstrations_only",
+      "payload_revision": "21b69e2d775cd77d6565e25d1b0b99ad725b54b3",
+      "adaptation_usage": "first_training_evaluation",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": true,
+        "v3": true
+      }
+    },
+    {
+      "task": "lift_basket",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "05b09b89225759382e28bc3dc586f1cfb755a997",
+        "release": "DATA-009-local-ten-20260926T130524Z",
+        "canonical_root": "canonical/lerobot_v2_1/DATA-009-local-ten-20260926T130524Z",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/DATA-009-local-ten-20260926T130524Z/manifest.json",
+        "manifest_sha256": "ca02672ddf8b14ec0818d591db8849a50e92b5558b71137d7f19fe58b64628d3"
+      },
+      "episodes": 10,
+      "actions": 7042,
+      "split": {
+        "train": 8,
+        "validation": 1,
+        "test": 1
+      },
+      "status": "verified",
+      "scope": "usable_demonstrations_only",
+      "payload_revision": "93a238fdaec5b873c5eb16571f08c179fe5a011c",
+      "adaptation_usage": "publication_only",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    },
+    {
+      "task": "press_button",
+      "ref": {
+        "repo_id": "dontKnow23456/QLM-Bench",
+        "revision": "05b09b89225759382e28bc3dc586f1cfb755a997",
+        "release": "DATA-010-20260926T073438Z",
+        "canonical_root": "canonical/lerobot_v2_1/DATA-010-20260926T073438Z",
+        "schema": "wam-quadruped-v2.1.0",
+        "manifest": "releases/DATA-010-20260926T073438Z/manifest.json",
+        "manifest_sha256": "259304cd527b2d68768c16774c4649251a343c69c1f9ea87cbf58654f615969c"
+      },
+      "episodes": 10,
+      "actions": 5194,
+      "split": {
+        "train": 8,
+        "validation": 1,
+        "test": 1
+      },
+      "status": "verified",
+      "scope": "usable_demonstrations_only",
+      "payload_revision": "93a238fdaec5b873c5eb16571f08c179fe5a011c",
+      "adaptation_usage": "publication_only",
+      "included_in_first_adaptation_training_evaluation": {
+        "v2": false,
+        "v3": false
+      }
+    }
+  ],
+  "assets": [],
+  "benchmarks": [],
+  "results": [],
+  "publication_status": "source_bound_metadata_release",
+  "formal_benchmark_status": "not_established",
+  "code": {
+    "repository": "https://github.com/JalenLoong/QLM-Bench",
+    "source_commit": "b9be357048ae350dd006eef9c95b4c84b7ec4e45",
+    "source_tree_sha256": "61359e5ef0cb1a6c381b85c080634cac382b868e77d0c641a3882980996b8ae1",
+    "dirty": false,
+    "branch": "synthesis/v2_9D-action_ego+task-centric_camera",
+    "core_version": "0.1.0"
+  },
+  "source_snapshots": {
+    "root": "metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45",
+    "manifest": "metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/snapshot_manifest.json",
+    "source_identity": {
+      "source_commit": "b9be357048ae350dd006eef9c95b4c84b7ec4e45",
+      "source_tree_sha256": "61359e5ef0cb1a6c381b85c080634cac382b868e77d0c641a3882980996b8ae1",
+      "dirty": false
+    }
+  }
+}

metadata/demonstration_index.json ADDED Viewed

	@@ -0,0 +1,982 @@

+[
+  {
+    "task": "push_box",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "4b5e0ed9aa04cbc1143774798f63171b27d838a7",
+    "release": "DATA-006-20260916T075451Z",
+    "canonical_root": "canonical/lerobot_v2_1/DATA-006-20260916T075451Z",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/DATA-006-20260916T075451Z/manifest.json",
+    "manifest_sha256": "59793e0819476ab92fea902defb2394ff706191bc4fb146166bcc4d7827f31b3",
+    "episode_uid": "demo_00",
+    "split": "train",
+    "adaptation_usage": "first_training_evaluation",
+    "raw_path": "raw/v2/push_box/DATA-005-20260916T055512Z/demo_00"
+  },
+  {
+    "task": "push_box",
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "4b5e0ed9aa04cbc1143774798f63171b27d838a7",
+    "release": "DATA-006-20260916T075451Z",
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+                    "observation.state.joint_position",
+                    "observation.state.joint_velocity",
+                    "observation.state.fl_ee_position",
+                    "observation.state.fl_ee_velocity",
+                    "observation.state.fl_contact_force",
+                    "task.object.position",
+                    "task.object.orientation",
+                    "task.object.linear_velocity",
+                    "task.object.angular_velocity",
+                    "task.goal.position",
+                    "task.progress",
+                    "observation.state.foot_contact",
+                    "task.success",
+                    "task.contact.fl_object",
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+                "physics",
+                "contact_sensor",
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+          "required": [
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+            "profile_hash",
+            "diagnostic_only",
+            "episode_uid",
+            "n_actions",
+            "n_boundaries",
+            "reset_epoch",
+            "streams",
+            "videos",
+            "observer",
+            "terminal",
+            "extensions",
+            "stream_sha256"
+          ],
+          "additionalProperties": false
+        }
+      }
+    }
+  }
+}

metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/physical_schema_snapshot.json ADDED Viewed

	@@ -0,0 +1,73 @@

+{
+  "source_identity": {
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+        "base_vy",
+        "base_yaw_rate",
+        "fl_ee_x",
+        "fl_ee_y",
+        "fl_ee_z",
+        "fl_ee_fx",
+        "fl_ee_fy",
+        "fl_ee_fz"
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+        "m/s",
+        "m/s",
+        "rad/s",
+        "m",
+        "m",
+        "m",
+        "N",
+        "N",
+        "N"
+      ],
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+        "projected_com_controller",
+        "projected_com_controller",
+        "projected_com_controller",
+        "projected_com",
+        "projected_com",
+        "projected_com",
+        "projected_com",
+        "projected_com",
+        "projected_com"
+      ],
+      "position_reference": "RAMBO analytical FL endpoint; absolute target, not delta",
+      "origin": "base world x/y projected onto world z=0; com_offset=(0,0,0), not measured whole-body CoM",
+      "rotation": "R_body_from_projected=rp_rotation_from_gravity_b(g_body); inverse is its transpose",
+      "axes": "gravity-level controller axes; +x forward/+y left at level pose, +z up; retain matrix definition under roll/pitch",
+      "force_sign": "desired robot-on-environment force; QP reaction and external injection use its negative",
+      "force_policy": "preserve requested; transformed/filtered/executed force exactly zero",
+      "filter": "identity",
+      "history": "completed high-level hold intervals; not measured EEF trajectory",
+      "consumption": "base/force read pre-step; FL IK updated post-step; residual runner consumes previous returned observation; record command IDs rather than retime labels",
+      "execution_dtype": "float32; requested JSON numbers preserved; transformed records dtype conversion before zero force"
+    },
+    "rates_hz": {
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+      "controller": 100,
+      "physics": 500,
+      "policy_rgb": 50,
+      "observer_diagnostic": 25
+    },
+    "policy_camera_keys": [
+      "observation.images.ego",
+      "observation.images.task_centric"
+    ],
+    "history": "Only completed high-level hold intervals",
+    "terminal": "Pre-reset state and RGB; no dummy terminal command",
+    "proprioception": "Explicit observation profile; model derivations are consumer-owned"
+  }
+}

metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/resource_registry_snapshot.json ADDED Viewed

	@@ -0,0 +1,152 @@

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+        "tasks": [
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+        "version": "iteration-2000",
+        "manifest": "rambo-go2-controller.json",
+        "manifest_sha256": "b3d033d4ff08789c516c23c06f75efa2bcd46b8aa2f53ced140a3403be34dc81",
+        "tasks": [],
+        "redistribution_status": "not_mirrored"
+      }
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+    "publication_status": "local_registry_not_uploaded"
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+}

metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/runtime_profile_snapshot.json ADDED Viewed

	@@ -0,0 +1,23 @@

+{
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+  "spec": {
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+    "controller_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
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+      "controller": 100,
+      "physics": 500,
+      "raw_canonical_rgb": 50,
+      "observer_diagnostic": 25
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+  }
+}

metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/snapshot_manifest.json ADDED Viewed

	@@ -0,0 +1,18 @@

+{
+  "schema": "qlm-spec-snapshots-v1",
+  "source_identity": {
+    "source_commit": "b9be357048ae350dd006eef9c95b4c84b7ec4e45",
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+  "source_repository": "https://github.com/JalenLoong/QLM-Bench",
+  "files": {
+    "physical_schema_snapshot.json": "b699a45f86ecc3dacbc6d0e213481fd7210317a4bf02bceec1292f1eba0cfea2",
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+    "task_specs_snapshot.json": "05bdea47c4935770fe98a8ee5708a697c19dc9833517f9e002b5530bb9f430e7",
+    "runtime_profile_snapshot.json": "aa2db296018bb3e8f4aa08eb9218035f485c76397537af0cfae96f868f8beb5f"
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+}

metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/task_specs_snapshot.json ADDED Viewed

	@@ -0,0 +1,66 @@

+{
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+      "version": "push-box-v2-2",
+      "instructions": [
+        "Push the box into the target area."
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+      "asset_ids": [
+        "cardboard-box-05"
+      ],
+      "required_evaluator_fields": [
+        "observation.state.base.position",
+        "observation.state.projected_gravity",
+        "task.object.position",
+        "task.object.orientation",
+        "task.goal.position"
+      ],
+      "success_predicate": "push-box-full-footprint-three-tick-v2",
+      "failure_predicate": "base-height-or-gravity-fall-v2"
+    },
+    "lift_basket": {
+      "task_id": "lift_basket",
+      "version": "lift-basket-v2-2",
+      "instructions": [
+        "Lift the basket."
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+      "asset_ids": [
+        "oasis-basket"
+      ],
+      "required_evaluator_fields": [
+        "observation.state.base.position",
+        "observation.state.projected_gravity",
+        "task.object.position",
+        "task.object.orientation",
+        "task.progress"
+      ],
+      "success_predicate": "basket-whole-mesh-clearance-three-tick-v2",
+      "failure_predicate": "base-height-or-gravity-fall-v2"
+    },
+    "press_button": {
+      "task_id": "press_button",
+      "version": "press-button-v2-1",
+      "instructions": [
+        "Press the button."
+      ],
+      "asset_ids": [
+        "industrial-button"
+      ],
+      "required_evaluator_fields": [
+        "observation.state.base.position",
+        "observation.state.projected_gravity",
+        "task.object.position",
+        "task.progress"
+      ],
+      "success_predicate": "button-displacement-three-tick-v2",
+      "failure_predicate": "base-height-or-gravity-fall-v2"
+    }
+  }
+}

metadata/wam-first-adaptation-compatibility.json ADDED Viewed

	@@ -0,0 +1,58 @@

+{
+  "schema": "qlm-wam-first-adaptation-compatibility-v1",
+  "status": "verified_fixed_input_compatibility",
+  "dataset": {
+    "repo_id": "dontKnow23456/QLM-Bench",
+    "revision": "4b5e0ed9aa04cbc1143774798f63171b27d838a7",
+    "release": "DATA-006-20260916T075451Z",
+    "canonical_root": "canonical/lerobot_v2_1/DATA-006-20260916T075451Z",
+    "schema": "wam-quadruped-v2.1.0",
+    "manifest": "releases/DATA-006-20260916T075451Z/manifest.json",
+    "manifest_sha256": "59793e0819476ab92fea902defb2394ff706191bc4fb146166bcc4d7827f31b3"
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+  "task": "push_box",
+  "episodes": 50,
+  "actions": 24335,
+  "split": {
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+    "validation": 5,
+    "test": 5
+  },
+  "branches": {
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+      "model_inputs_sha256": "e60e5c98e13e265fea377ecf8a75aedb8f7d9a5ed72dd7a923eaffcf783d7a12",
+      "normalizers": {
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+      },
+      "canonical_inventory": "0d514d9709f124fd0fab915f80e4d4afc4d7c41e71da29b1150d23bc7f7579c0",
+      "split": "401cc5fc5df72f71c7ac28dbbb43320887251b1373436a9258942a56d666a450"
+    },
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+      "normalizers": {
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+        "proprioception": "38dfd8c804ec6f51c7b34675cf1e05f034c082940c3fd8575fdc7c11b31b45db"
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+      "split": "401cc5fc5df72f71c7ac28dbbb43320887251b1373436a9258942a56d666a450"
+    }
+  },
+  "new_task_releases": "publication_only for existing first adaptation v2/v3 inputs; independent future use is separate",
+  "changes_to_old_payload": false,
+  "model_specific_payload_included": false,
+  "source_package_publication": {
+    "repository": "https://github.com/JalenLoong/QLM-Bench",
+    "source_commit": "b9be357048ae350dd006eef9c95b4c84b7ec4e45",
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+    "dirty": false,
+    "branch": "synthesis/v2_9D-action_ego+task-centric_camera",
+    "core_version": "0.1.0"
+  },
+  "scope": "fixed input identity and local equivalence evidence; not a benchmark score",
+  "source_snapshots": "metadata/spec_snapshots/qlm-core-0.1.0-b9be357048ae350dd006eef9c95b4c84b7ec4e45/snapshot_manifest.json"
+}