README.md

metadata

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
Task4-2	Full Tower Pushdown, 2 layers	task4-2_full_tower_pushdown_2	50	177,203	40.65 GiB
Task4-3	Full Tower Pushdown, 3 layers	task4-3_full_tower_pushdown_3	50	258,895	60.68 GiB
Task5-2	Tower Insertion, 2 layers	task5-2_tower_insertion_2	50	88,549	19.95 GiB
Task5-3	Tower Insertion, 3 layers	task5-3_tower_insertion_3	50	240,175	57.13 GiB
Total			531	1,748,580	403.68 GiB

The public release does not define an official training or test split. All 531 episodes are released together. The Task4/Task5 addition contains 50 episodes for each task/layer, selected from the source training pools; this does not establish a public benchmark split. Users should create and document splits that match their experimental protocol.

Repository Layout

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/
├── task4-2_full_tower_pushdown_2/
├── task4-3_full_tower_pushdown_3/
├── task5-2_tower_insertion_2/
└── task5-3_tower_insertion_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
Task4	Full Tower Pushdown	task4-X_full_tower_pushdown_X
Task5	Tower Insertion	task5-X_tower_insertion_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, Task3 and Task5 episodes may additionally contain sim/finger_pad_centers_m. Task4/Task5 episodes also include optional simulator diagnostics: sim/controller_qpos, sim/gripper_joint_positions_m, and sim/gripper_requested_width_m. These do not replace the standard state or command fields; existing readers can ignore them.

Camera orientation and compatibility

Stored JPEGs are already oriented for use: decode them directly, without an extra rotation or flip. For the v1.1.0 Task4/Task5 addition, the two external cameras were losslessly rotated by 180 degrees to match the original public release. Wrist camera JPEGs and all non-image dataset values are unchanged. camera_transforms and per-camera orientation_transform describe the transform already applied, not a transform to apply during loading. Simulator configuration JSON preserves the historical capture settings.

The HDF5 core schema, 30 FPS timeline, units, arm order and action alignment are unchanged. This is a raw HDF5 release; a model-specific conversion and normalization step is still required for training. Existing readers should discover the four new task folders and retain their existing preprocessing conventions. Recompute normalization for the actual training split rather than treating this addition as a pre-normalized dataset.

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:

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.

Measured gripper observations retain simulator excursions around zero (the Task4/Task5 minimum is approximately -1.32 mm); command widths remain nonnegative. The release does not clip these raw values. Retain the existing gripper tolerance and canonicalization step in training preprocessing.

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

Task1-3 · task1-3_tower_transfer_3

Task2-2 · task2-2_cross_tower_transfer_2

Task2-3 · task2-3_cross_tower_transfer_3

Task3-2 · task3-2_vertical_stacking_2

Task3-3 · task3-3_vertical_stacking_3

Task4-2 · task4-2_full_tower_pushdown_2

Task4-3 · task4-3_full_tower_pushdown_3

Task5-2 · task5-2_tower_insertion_2

Task5-3 · task5-3_tower_insertion_3

Reading and Verification

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.

Downloading only the Task4/Task5 addition

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="tower-benchmark/TOWER-SimData",
    repo_type="dataset",
    local_dir="TOWER-SimData",
    allow_patterns=["data/task4-*/*.hdf5", "data/task5-*/*.hdf5",
                    "MANIFEST.jsonl", "CHECKSUMS.sha256", "schema/*",
                    "README.md", "LICENSE", "CITATION.cff"],
)

The root manifest and checksum file cover the entire repository. When downloading only selected tasks, verify only those entries whose files were downloaded; missing files from other tasks are expected.

License and Citation

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