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TeleArms raw demonstrations: three tasks
Raw human teleoperation demonstrations of a simulated bimanual YAM robot (MuJoCo), recorded in the TeleArms game. Every demo here succeeded and passed the acceptance checks of the TeleArms v5 training dataset; this repo holds all of that dataset's human demos of three tasks:
- Red Cube In Front Of Blue Cube: 6,109 demos
- L Cube Arrangement: 11,990 demos
- Three Cube Pyramid Stacking: 2,547 demos
20,646 demos, 246 GB, in 50 tar shards.
Files
data/<task>/<task>-NNN.tar holds <task>/<uuid>/ per demo:
<uuid>.safetensors(played in the cloud) or<uuid>.safetensors.gz(played in the browser, gzip-compressed): the recorded robot and object states (info_qpos,info_qvel) and the commanded actions (info_demo_action) at 500 Hz, with metadata (environment name, seed, package versions; for browser play also the start layoutreset_layout).<uuid>.json: the game's record of the attempt (task, duration, success, metrics).verification.json(browser play only): the server's replay check of the demo.
manifest.csv lists every demo with its task, where it was played (cloud or local =
browser) and its shard.
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The trajectories are read and replayed with the roboeval package of the TeleArms code base:
Demo.from_safetensors(path) reads both file types (a gzipped file must keep its .gz suffix).
A browser-play demo replays only after its reset_layout is applied on top of the seeded reset;
the seed alone does not reproduce its start layout.
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