SimFactoryLitLampSingle-v0: 90 episodes, SIMPLE LeRobot v2.1 + simple/ zip

README.md

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+---
+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")
+```

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