Publish processed DexJoCo delta-action datasets

README.md

@@ -0,0 +1,54 @@
+---
+pretty_name: DexJoCo Delta Actions for DICE-RL
+tags:
+  - robotics
+  - reinforcement-learning
+  - dexjoco
+  - dice-rl
+---
+# DexJoCo delta-action data for DICE-RL
+
+Processed state-based demonstrations. Action layout: world position delta (3),
+world relative SO(3) rotation vector (3), absolute Allegro joint targets (16).
+Deltas use the measured observation at the same timestep. Both states and actions
+are min-max normalized; BC and RL share the same normalization statistics.
+Observation version: `initial_object_pose_v1`.
+
+| Task | Episodes | Transitions |
+| --- | ---: | ---: |
+| pinch_tongs | 50 | 19885 |
+| pick_bucket | 50 | 22077 |
+| hammer_nail | 50 | 11008 |
+| click_mouse | 50 | 17120 |
+
+Each task contains `ph_pretrain/train.npz`, `ph_finetune/train.npz`, their
+`normalization.npz` files, and `episodes.json`. The manifest records SHA-256 hashes.
+RL rewards and terminals are 1 only at each retained demonstration's final frame.
+These are synthetic end-of-demo success labels, not replay-verified success times
+for the original recordings. No raw videos or model checkpoints are included.
+
+## Array format
+
+Load NPZ files with `numpy.load(path, allow_pickle=False)`.
+
+| Key | Shape | Meaning |
+| --- | --- | --- |
+| `states` | `(T, obs_dim)` | Normalized observations, float32 |
+| `actions` | `(T, 22)` | Normalized pose deltas and absolute hand targets, float32 |
+| `traj_lengths` | `(N,)` | Episode lengths, int64; sum equals T |
+| `rewards`, `terminals` | `(T,)` | Finetuning split only, float32 |
+
+`normalization.npz` stores `obs_min`, `obs_max`, `action_min`, `action_max`,
+`action_mode`, `normalized`, and `observation_version`.
+Normalization is `2 * (x - minimum) / (maximum - minimum + 1e-6) - 1`.
+Unnormalize actions before decoding them with the latest measured robot pose:
+`target_xyz = observed_xyz + delta_xyz` and
+`R_target = Exp(delta_rotvec) @ R_observed`. Hand targets stay absolute.
+The state and raw target quaternions use wxyz ordering.
+
+For `initial_object_pose_v1`, object pose features describe the initial object
+poses, matching the original recordings. They do not track moving objects.
+
+Use the accompanying DICE-RL checkout's `bash script/download_dexjoco_hf.sh`.
+See its `README_DEXJOCO.md` for installation and action decoding.
+Source recordings: [DexJoCo](https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-Raw).

click_mouse_delta_n50/episodes.json

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+{
+  "task": "click_mouse",
+  "raw_path": "click_mouse",
+  "action_mode": "delta",
+  "normalized": true,
+  "subset_seed": 0,
+  "n_available": 100,
+  "n_valid": 100,
+  "n_selected": 50,
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+    "monitor_mousepad_demo_1_2026-03-11_20-46-50_544801/replay.zarr",
+    "monitor_mousepad_demo_1_2026-03-12_12-43-43_746083/replay.zarr",
+    "monitor_mousepad_demo_1_2026-03-12_13-10-29_074836/replay.zarr",
+    "monitor_mousepad_demo_2_2026-03-10_20-03-36_325031/replay.zarr",
+    "monitor_mousepad_demo_2_2026-03-11_20-47-12_723997/replay.zarr",
+    "monitor_mousepad_demo_2_2026-03-12_12-44-02_857776/replay.zarr",
+    "monitor_mousepad_demo_2_2026-03-12_13-10-47_723599/replay.zarr",
+    "monitor_mousepad_demo_4_2026-03-10_20-05-08_469389/replay.zarr",
+    "monitor_mousepad_demo_4_2026-03-12_13-11-19_993871/replay.zarr",
+    "monitor_mousepad_demo_5_2026-03-10_20-05-31_736819/replay.zarr",
+    "monitor_mousepad_demo_5_2026-03-11_20-48-20_040177/replay.zarr",
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+}

pick_bucket_delta_n50/ph_finetune/normalization.npz

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