Blame for README.md

---
license: mit
pretty_name: Future Sight PushT
task_categories:
  - robotics
tags:
  - robotics
  - world-modeling
  - pusht
  - tfrecord
  - video
---

# Future Sight PushT

Future Sight PushT is a wind tunnel for studying how training-data scale and
composition affect world-model learning and generalization. It pairs large
passively collected corpora with smaller, iterative active-exploration corpora
in a common PushT environment. This controlled setting helps isolate those
effects from the scale and potential contamination of large, heterogeneous
datasets.

## Collection preview

### Passive collection

<video
  src="https://huggingface.co/datasets/smbml/future-sight-pusht/resolve/main/assets/passive-preview.mp4"
  poster="https://huggingface.co/datasets/smbml/future-sight-pusht/resolve/main/assets/passive-preview.png"
  width="100%"
  controls muted autoplay loop playsinline preload="metadata">
</video>

Expert PPO, perturbation and recovery, random walk, and random actions: four
ways to collect large training corpora with different behavior distributions.

### Active exploration

<video
  src="https://huggingface.co/datasets/smbml/future-sight-pusht/resolve/main/assets/active-preview.mp4"
  poster="https://huggingface.co/datasets/smbml/future-sight-pusht/resolve/main/assets/active-preview.png"
  width="100%"
  controls muted autoplay loop playsinline preload="metadata">
</video>

AIM, DADS, DIAYN, ICM, and METRA: smaller collections produced by
task-specific exploration methods. The selected AIM episode is from iteration 1;
DADS, DIAYN, ICM, and METRA are from iteration 4.

Both videos show selected recorded trajectories, up to 100 frames each.
Playback is 10 display frames/s; short episodes repeat, with the frame counter
marking each restart. This display rate
does not specify collection frequency. These clips illustrate individual
trajectories, not aggregate performance or coverage.

Still figures at the 5-second display point: [passive PNG](assets/passive-figure.png) · [PDF](assets/passive-figure.pdf);
[active PNG](assets/active-figure.png) · [PDF](assets/active-figure.pdf).

## Dataset at a glance

| | Passive training | Active training | Evaluation |
| --- | ---: | ---: | ---: |
| Episodes | ≈1.21 million | 17,000 | 400 |
| Compressed size | 486.249 GB | 8.901 GB | 0.239 GB |

Active episode counts include all five collection iterations and both AIM
ablations. Each evaluation collection contains 100 episodes. Passive counts are
rounded; all sizes are compressed decimal GB.

The previewed training corpora use 144×144 RGB PNG observations and
six-dimensional continuous actions and a single camera view. Trajectories are
stored as TFRecords, with JSON corpus metadata and CSV per-trajectory metadata.
Evaluation records use the same decoded RGB/action dimensions and additionally
include PNG segmentation.

## Collection guide

Passive collections represent data that can be gathered at scale:

| Collection | Behavior | Episodes | Compressed size |
| --- | --- | ---: | ---: |
| Expert PPO | Task-directed expert trajectories | ≈307,000 | 56.976 GB |
| Recovery | Policy rollouts with perturbations and recovery | ≈300,000 | 118.956 GB |
| Random walk | Temporally correlated random actions | ≈300,000 | 156.312 GB |
| Uniform random | Uniform random actions | ≈300,000 | 154.005 GB |

Active collections represent smaller, task-specific exploration rounds. Each
method has five corpora, `iter-0` through `iter-4`, and each iteration has eight
shards.

| Method | Role | Episodes, all five iterations | Compressed size |
| --- | --- | ---: | ---: |
| AIM | Action Influence Maximization | 5,000 | 2.667 GB |
| AIM no-MI | AIM mutual-information ablation | 5,000 | 2.617 GB |
| AIM no-SN | AIM spectral-normalization ablation | 5,000 | 2.631 GB |
| DADS | Dynamics-Aware Discovery of Skills | 500 | 0.260 GB |
| DIAYN | Diversity Is All You Need | 500 | 0.223 GB |
| ICM | Intrinsic Curiosity Module | 500 | 0.244 GB |
| METRA | Metric-aware abstraction | 500 | 0.260 GB |

Evaluation data is separate from training data:

| Corpus | Behavior | Episodes |
| --- | --- | ---: |
| BC | Behavior-cloned policy rollouts | 100 |
| BC failures | Alternating expert and push-away controller segments | 100 |
| PushAway | Push-away controller rollouts | 100 |
| Interaction | Human teleoperation with simulator segmentation masks | 100 |

## Files and download

```text
passive-collection/<ppo|recovery|random-walk|uniform-random>/train/shard_N.tar.zst
active-exploration/<method>/iter-N/shard_N.tar.zst
evaluation/<bc|bc-failures|pushaway|interaction>/shard_0.tar.zst
manifest.json
```

[`manifest.json`](manifest.json) records every archive path, byte size, and
SHA-256 checksum. Sizes above are compressed decimal GB; extraction requires
additional disk space.

Install the [Hugging Face CLI](https://huggingface.co/docs/huggingface_hub/guides/cli),
then download only the data needed for an experiment. For one archive:

```sh
hf download smbml/future-sight-pusht evaluation/bc/shard_0.tar.zst \
  --repo-type dataset --local-dir ./future-sight-pusht
```

For one complete active-exploration iteration:

```sh
hf download smbml/future-sight-pusht \
  --repo-type dataset \
  --include "active-exploration/aim/iter-0/*.tar.zst" \
  --local-dir ./future-sight-pusht
```

Add `--revision FULL_COMMIT_HASH` to pin a reproducible snapshot. Download
`manifest.json` at the same revision when verifying sizes or checksums.

## Extract and read

With GNU tar and `zstd` installed:

```sh
mkdir -p ./future-sight-data
tar --zstd -xf ./future-sight-pusht/evaluation/bc/shard_0.tar.zst \
  -C ./future-sight-data
```

This creates `future-sight-data/pusht_bc_1pct_n100/` with TFRecords and metadata.
Archive paths organize downloads; extracted top-level directory names reflect
the corpus stored in each archive.

For sharded training corpora, extract each shard into a separate directory so
shard-local metadata files do not overwrite one another. Read the TFRecords and
metadata from all eight directories to use a complete iteration or passive
corpus.

## License

MIT.

## Citation

If you use this dataset, please cite:

```bibtex
@inproceedings{bateman2026training,
  title = {Training Controllable World Models via Action Influence Maximization},
  author = {Bateman, Samuel M. and Yin, Tenny and Zheng, Chongyi and
            Huang, Lei and Wang, Brian and Eysenbach, Ben and
            Fern{\'a}ndez Fisac, Jaime and Shah, Dhruv},
  booktitle = {Conference on Robot Learning (CoRL)},
  year = {2026}
}
```

*Paper link coming soon.*