| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - SIMPLE |
| - humanoid |
| - unitree-g1 |
| - memory |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # SimFactoryFlashPadSingle-v0 |
|
|
| Memory-dependent humanoid manipulation demonstrations for the Unitree G1, in the same LeRobot v2.1 layout as SIMPLE's `G1WholebodyTabletopGraspMP-v0`. |
|
|
| **Task.** Watch the lamp on the table; it flashes one, two or three times. Then pick up the apple and place it on pad 1, 2 or 3, counting the pads from the left, matching the number of flashes. |
|
|
| The flashes are brief (0.5 s on, 1.0 s off) and all happen before the robot moves. The robot's motion until the pad choice is the same for every count, so the policy must remember how many flashes it saw. |
|
|
| ## Contents |
|
|
| | Item | Value | |
| |---|---| |
| | Episodes | 119 (40 × 1 flash, 40 × 2 flashes, 39 × 3 flashes) | |
| | Frames | 310,990 at 50 fps (episodes 42–105 s, median 48 s) | |
| | Camera | `observation.images.egocentric` (G1 `head_stereo_left`), 640x360, h264 | |
| | `states` / `action` | 32-d / 36-d, same semantics as SIMPLE (see `meta/modality.json`) | |
| | Format | LeRobot codebase v2.1 | |
|
|
| ## Generation |
|
|
| - Physics: MuJoCo, scripted expert (SIMPLE G1 controller): validated front-on apple pick, pick-style approach to the remembered pad, table placement. |
| - Rendering: NVIDIA Isaac Sim replay of the recorded trajectories. |
| - Domain randomization per episode, SIMPLE style: lighting, table, ground and object materials, and 1 to 3 render-only GraspNet distractors. |
| - Curation: only complete episodes with the apple within 8 cm of the correct pad and nearer to it than any other pad (all kept episodes are within 4 mm). Every flash is verified in the recorded egocentric frames: the lit lamp is present in every frame of every flash window. |
|
|
| ## Files |
|
|
| - `data/`, `meta/`, `videos/`: the LeRobot v2.1 dataset. Per-episode `environment_config.memory.flash_count` holds the answer. |
| - `simple/SimFactoryFlashPadSingle-v0.zip`: the same files as one archive, in the layout of `USC-PSI-Lab/psi-data` (`simple/<task>.zip`). Ψ₀ training tools download this archive at a pinned revision. |
| - `meta/stats_psi0.json`: the normalization statistics Ψ₀ uses, identical to `meta/stats.json`. |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| ds = LeRobotDataset("randing2000/SimFactoryFlashPadSingle-v0") |
| ``` |
|
|
