| --- |
| license: mit |
| tags: |
| - LeRobot |
| - robotics |
| - simulation |
| - cyclo_lab |
| task_categories: |
| - robotics |
| --- |
| # Ablation_Block_both |
|
|
| Ablation_Block_both: 2,000 successful sim block-pick demos for the visual vs physical domain-randomization ablation (data_collection/ablation_vp, 2026-11-07), same program/seeds/pairing as padiredd/Ablation_Block_visual and padiredd/Ablation_Block_physical. **Both visual and physical randomization**: the visual set's per-episode draws (table look, backdrop, block colour, room + spot lights) AND the physical set's (start pose +-2 deg, table height -2..+2 cm per part, camera mount/FOV). Paired episode for episode with the other three sets (pair_key). |
| |
| FFW-SG2 (ROBOTIS) in Isaac Lab, 15 fps, 3 cameras (head, left wrist, right wrist) stretched to 240x240, 16-dim actions / 22-dim state in the real datasets' layout. Collected in the cyclo_lab real2sim pipeline (padiredd). |
|
|
| | | | |
| |---|---| |
| | episodes | 2000 | |
| | frames | 337834 | |
| | fps | 15 | |
| | LeRobot format | v3.0 | |
| | cameras | observation.images.rgb.cam_left_wrist, observation.images.rgb.cam_right_wrist, observation.images.rgb.cam_left_head | |
| | other features | observation.state, action, timestamp, frame_index, episode_index, index, task_index | |
| |
| Uploaded 2026-11-07 07:34 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py. |
|
|
