Cup_visual_wide_2

Cup_visual_wide_2: 2,000 successful sim demos (one 2k chunk of the 10k collection, successes in part order) of the bimanual cup-to-basket handover, the cup DR ablation's VISUAL recipe unchanged (data_collection/cup_basket/ablation_vp, padiredd/Ablation_Cup_visual: v6 program cup_handover_v6.py, right close recorded 0.70 / executed 0.50, cup-safe gripper randomization, visual randomization: table look, backdrop, cup colour, dr2 room lights, 0-3 spot lights) EXCEPT a wider placement (data_collection/cup_basket/visual10k_wide, 2026-11-08): cup centre x 0.36-0.58, y 0.00-0.42 m; basket centre x 0.40-0.55, y -0.60..-0.28 m, yaw +-10 deg (ablation: cup 0.44-0.58 / 0.10-0.30, basket 0.40-0.54 / -0.52..-0.36). Seeds 100000 + part. Raw collector output: padiredd/Cup_visual_wide_2_raw.

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	942517
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 2026-11-09 03:08 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py.