| --- |
| license: mit |
| tags: |
| - LeRobot |
| - robotics |
| - simulation |
| - cyclo_lab |
| task_categories: |
| - robotics |
| --- |
| # Ablation_Block_none |
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| Ablation_Block_none: 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 the other three Ablation_Block sets. **No visual and no physical randomization** (nominal table, backdrop, lights, block colour, yaml start pose, 29.25 in table, calibrated cameras); only the shared block pose / yaw / motion / gripper draws. Paired episode for episode with the other three sets (pair_key). |
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| 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). |
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| | | | |
| |---|---| |
| | episodes | 2000 | |
| | frames | 337368 | |
| | 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 | |
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| Uploaded 2026-11-07 07:34 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py. |
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