README.md

---
pretty_name: Tower-SimData
license: cc-by-4.0
language:
- en
tags:
- robotics
- bimanual-manipulation
- imitation-learning
- jenga
- simulation
- hdf5
---

# Tower-SimData

Tower-SimData is a simulated demonstration dataset for research on bimanual Jenga manipulation. Each episode is stored as an independent HDF5 file containing bimanual robot states and commands, end-effector poses, four JPEG camera streams, and simulation task states.

Dataset repository: <https://huggingface.co/datasets/tower-benchmark/TOWER-SimData>

## Dataset Size

| Task | Name | Public folder | Episodes | Frames | Size |
|---|---|---|---:|---:|---:|
| Task1-2 | Tower Transfer, 2 layers | `task1-2_tower_transfer_2` | 56 | 196,031 | 45.99 GiB |
| Task1-3 | Tower Transfer, 3 layers | `task1-3_tower_transfer_3` | 55 | 294,441 | 67.08 GiB |
| Task2-2 | Cross Tower Transfer, 2 layers | `task2-2_cross_tower_transfer_2` | 55 | 100,086 | 22.26 GiB |
| Task2-3 | Cross Tower Transfer, 3 layers | `task2-3_cross_tower_transfer_3` | 55 | 155,176 | 35.19 GiB |
| Task3-2 | Vertical Stacking, 2 layers | `task3-2_vertical_stacking_2` | 55 | 97,124 | 22.19 GiB |
| Task3-3 | Vertical Stacking, 3 layers | `task3-3_vertical_stacking_3` | 55 | 140,900 | 32.55 GiB |
| **Total** |  |  | **331** | **983,758** | **225.27 GiB** |

The public release does not define an official training or test split. All 331 episodes are released together. Users should create and document splits that match their experimental protocol.

## Repository Layout

```text
data/
├── task1-2_tower_transfer_2/
├── task1-3_tower_transfer_3/
├── task2-2_cross_tower_transfer_2/
├── task2-3_cross_tower_transfer_3/
├── task3-2_vertical_stacking_2/
└── task3-3_vertical_stacking_3/
previews/
MANIFEST.jsonl
CHECKSUMS.sha256
schema/tower_simdata_hdf5.json
```

`MANIFEST.jsonl` records the relative path, frame count, file size, SHA256 digest, collection date, and schema variant of every episode. `CHECKSUMS.sha256` can be used to verify download integrity.

## Task Definitions and Naming

`N` denotes the task index. `L` and `X` denote the number of layers in the block structure. Public folders follow `taskN-L_task_name`; for example, `task1-2_tower_transfer_2` contains the two-layer variant of Task1.

| Task | Task name | Folder naming pattern |
|---|---|---|
| Task1 | Tower Transfer | `task1-X_tower_transfer_X` |
| Task2 | Cross Tower Transfer | `task2-X_cross_tower_transfer_X` |
| Task3 | Vertical Stacking | `task3-X_vertical_stacking_X` |

## Core HDF5 Fields

| Field | Shape | Description |
|---|---|---|
| `observations/qpos` | `[T,16]` | Recorded bimanual state: seven arm joints and one gripper value per arm |
| `leader/qpos` | `[T,16]` | Absolute bimanual control commands: seven arm joints and one gripper value per arm |
| `observations/gripper_status` | `[T,8]` | Extended gripper state, four values per gripper |
| `observations/eef` | `[T,14]` | Bimanual end-effector poses as `xyz + quaternion(xyzw)` |
| `leader/eef` | `[T,14]` | Command-side end-effector poses |
| `observations/lifter/position_mm` | `[T,2]` | Left and back lifter position readings |
| `observations/lifter/physical_height_mm` | `[T,2]` | Physical heights of the left and back lifters |
| `observations/lifter/is_moving` | `[T,2]` | Whether each lifter is moving |
| `observations/lifter/valid` | `[T,2]` | Whether each lifter observation is valid |
| `lifter/action_mm` | `[T,2]` | Absolute commands for the left and back lifters |
| `lifter/active_target_mm` | `[T,2]` | Active target of each lifter |
| `lifter/command_delta_mm` | `[T,2]` | Difference between consecutive lifter commands |
| `observations/images/*` | `[T]` | Four variable-length JPEG camera streams |
| `sim/time` | `[T]` | Strictly increasing simulation time |
| `sim/action_valid` | `[T]` | Action-valid flag; the final row is `false` |
| `sim/terminal` | `[T]` | Episode termination flag |
| `sim/success` | `[T]` | Task success state |

The fixed arm order is `left, back`. The four cameras are `left_back_camera`, `right_front_camera`, `left_wrist_camera`, and `back_wrist_camera`. The source sampling rate is 30 FPS.

All tasks use the unified `tower_simdata_hdf5` schema. The 37 required fields and optional fields are defined in `schema/tower_simdata_hdf5.json`. `keyframes` is an optional general-purpose field. Task2 and Task3 episodes may additionally contain the `sim/finger_pad_centers_m` contact-point field.

### 18-Dimensional Action Convention

The public HDF5 files store the 18-dimensional action in two synchronized fields instead of duplicating it as an additional `action[T,18]` dataset:

```text
action[18] = concat(
  leader/qpos[16],
  lifter/action_mm[2]
)

leader/qpos[16] = [
  left_J1 ... left_J7, left_gripper,
  back_J1 ... back_J7, back_gripper
]

lifter/action_mm[2] = [left_lifter, back_lifter]
```

J1–J7 are measured in radians, gripper values are continuous absolute opening commands, and lifter commands are measured in millimeters. These quantities must be concatenated in the order above and must not be interpreted as sharing one physical unit.

## Camera Previews

Each preview uses one representative episode. The first row shows the initial frame and the second row shows the final frame. Within each row, the four camera views are shown in a fixed order.

### Task1-2 · `task1-2_tower_transfer_2`

![Task1-2 start and end](previews/task1-2_tower_transfer_2_start_end.jpg)

### Task1-3 · `task1-3_tower_transfer_3`

![Task1-3 start and end](previews/task1-3_tower_transfer_3_start_end.jpg)

### Task2-2 · `task2-2_cross_tower_transfer_2`

![Task2-2 start and end](previews/task2-2_cross_tower_transfer_2_start_end.jpg)

### Task2-3 · `task2-3_cross_tower_transfer_3`

![Task2-3 start and end](previews/task2-3_cross_tower_transfer_3_start_end.jpg)

### Task3-2 · `task3-2_vertical_stacking_2`

![Task3-2 start and end](previews/task3-2_vertical_stacking_2_start_end.jpg)

### Task3-3 · `task3-3_vertical_stacking_3`

![Task3-3 start and end](previews/task3-3_vertical_stacking_3_start_end.jpg)

## Reading and Verification

```bash
pip install h5py

python - <<'PY'
import h5py

with h5py.File("data/task1-3_tower_transfer_3/episode_xxx.hdf5", "r") as episode:
    print(episode["observations/qpos"].shape)
    print(list(episode["observations/images"]))
PY

sha256sum --check CHECKSUMS.sha256
```

The dataset preserves the original 30 FPS timeline. No model-specific action transformation or normalization has been applied.

## License and Citation

Tower-SimData is released under the [Creative Commons Attribution 4.0 International License](LICENSE). If you use this dataset, please cite the metadata in [`CITATION.cff`](CITATION.cff).