| --- |
| pretty_name: TeleArms raw demonstrations (three tasks) |
| tags: |
| - robotics |
| extra_gated_prompt: Access is granted manually to collaborators of the TeleArms project. |
| --- |
| |
| # 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 layout `reset_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. |
|
|
| ## Loading |
|
|
| 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. |
|
|
