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1

Add 50 demonstrations each for Task4-2, Task4-3, Task5-2 and Task5-3

#1
by Hnyquister - opened
base: refs/heads/main
←
from: refs/pr/1
Discussion Files changed
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This view is limited to 50 files because it contains too many changes. See the raw diff here.
Files changed (50) hide show
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MANIFEST.jsonl CHANGED
The diff for this file is too large to render. See raw diff
 
README.md CHANGED
@@ -28,9 +28,13 @@ Dataset repository: <https://huggingface.co/datasets/tower-benchmark/TOWER-SimDa
28
  | Task2-3 | Cross Tower Transfer, 3 layers | `task2-3_cross_tower_transfer_3` | 55 | 155,176 | 35.19 GiB |
29
  | Task3-2 | Vertical Stacking, 2 layers | `task3-2_vertical_stacking_2` | 55 | 97,124 | 22.19 GiB |
30
  | Task3-3 | Vertical Stacking, 3 layers | `task3-3_vertical_stacking_3` | 55 | 140,900 | 32.55 GiB |
31
- | **Total** | | | **331** | **983,758** | **225.27 GiB** |
 
 
 
 
32
 
33
- 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.
34
 
35
  ## Repository Layout
36
 
@@ -41,7 +45,11 @@ data/
41
  ├── task2-2_cross_tower_transfer_2/
42
  ├── task2-3_cross_tower_transfer_3/
43
  ├── task3-2_vertical_stacking_2/
44
- └── task3-3_vertical_stacking_3/
 
 
 
 
45
  previews/
46
  MANIFEST.jsonl
47
  CHECKSUMS.sha256
@@ -59,6 +67,8 @@ schema/tower_simdata_hdf5.json
59
  | Task1 | Tower Transfer | `task1-X_tower_transfer_X` |
60
  | Task2 | Cross Tower Transfer | `task2-X_cross_tower_transfer_X` |
61
  | Task3 | Vertical Stacking | `task3-X_vertical_stacking_X` |
 
 
62
 
63
  ## Core HDF5 Fields
64
 
@@ -84,7 +94,13 @@ schema/tower_simdata_hdf5.json
84
 
85
  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.
86
 
87
- 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.
 
 
 
 
 
 
88
 
89
  ### 18-Dimensional Action Convention
90
 
@@ -106,6 +122,8 @@ lifter/action_mm[2] = [left_lifter, back_lifter]
106
 
107
  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.
108
 
 
 
109
  ## Camera Previews
110
 
111
  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.
@@ -134,6 +152,22 @@ Each preview uses one representative episode. The first row shows the initial fr
134
 
135
  ![Task3-3 start and end](previews/task3-3_vertical_stacking_3_start_end.jpg)
136
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
137
  ## Reading and Verification
138
 
139
  ```bash
@@ -152,6 +186,23 @@ sha256sum --check CHECKSUMS.sha256
152
 
153
  The dataset preserves the original 30 FPS timeline. No model-specific action transformation or normalization has been applied.
154
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
155
  ## License and Citation
156
 
157
  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).
 
28
  | Task2-3 | Cross Tower Transfer, 3 layers | `task2-3_cross_tower_transfer_3` | 55 | 155,176 | 35.19 GiB |
29
  | Task3-2 | Vertical Stacking, 2 layers | `task3-2_vertical_stacking_2` | 55 | 97,124 | 22.19 GiB |
30
  | Task3-3 | Vertical Stacking, 3 layers | `task3-3_vertical_stacking_3` | 55 | 140,900 | 32.55 GiB |
31
+ | Task4-2 | Full Tower Pushdown, 2 layers | `task4-2_full_tower_pushdown_2` | 50 | 177,203 | 40.65 GiB |
32
+ | Task4-3 | Full Tower Pushdown, 3 layers | `task4-3_full_tower_pushdown_3` | 50 | 258,895 | 60.68 GiB |
33
+ | Task5-2 | Tower Insertion, 2 layers | `task5-2_tower_insertion_2` | 50 | 88,549 | 19.95 GiB |
34
+ | Task5-3 | Tower Insertion, 3 layers | `task5-3_tower_insertion_3` | 50 | 240,175 | 57.13 GiB |
35
+ | **Total** | | | **531** | **1,748,580** | **403.68 GiB** |
36
 
37
+ 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.
38
 
39
  ## Repository Layout
40
 
 
45
  ├── task2-2_cross_tower_transfer_2/
46
  ├── task2-3_cross_tower_transfer_3/
47
  ├── task3-2_vertical_stacking_2/
48
+ ├── task3-3_vertical_stacking_3/
49
+ ├── task4-2_full_tower_pushdown_2/
50
+ ├── task4-3_full_tower_pushdown_3/
51
+ ├── task5-2_tower_insertion_2/
52
+ └── task5-3_tower_insertion_3/
53
  previews/
54
  MANIFEST.jsonl
55
  CHECKSUMS.sha256
 
67
  | Task1 | Tower Transfer | `task1-X_tower_transfer_X` |
68
  | Task2 | Cross Tower Transfer | `task2-X_cross_tower_transfer_X` |
69
  | Task3 | Vertical Stacking | `task3-X_vertical_stacking_X` |
70
+ | Task4 | Full Tower Pushdown | `task4-X_full_tower_pushdown_X` |
71
+ | Task5 | Tower Insertion | `task5-X_tower_insertion_X` |
72
 
73
  ## Core HDF5 Fields
74
 
 
94
 
95
  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.
96
 
97
+ 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.
98
+
99
+ ### Camera orientation and compatibility
100
+
101
+ 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.
102
+
103
+ 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.
104
 
105
  ### 18-Dimensional Action Convention
106
 
 
122
 
123
  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.
124
 
125
+ 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.
126
+
127
  ## Camera Previews
128
 
129
  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.
 
152
 
153
  ![Task3-3 start and end](previews/task3-3_vertical_stacking_3_start_end.jpg)
154
 
155
+ ### Task4-2 · `task4-2_full_tower_pushdown_2`
156
+
157
+ ![task4-2_full_tower_pushdown_2 start and end](previews/task4-2_full_tower_pushdown_2_start_end.jpg)
158
+
159
+ ### Task4-3 · `task4-3_full_tower_pushdown_3`
160
+
161
+ ![task4-3_full_tower_pushdown_3 start and end](previews/task4-3_full_tower_pushdown_3_start_end.jpg)
162
+
163
+ ### Task5-2 · `task5-2_tower_insertion_2`
164
+
165
+ ![task5-2_tower_insertion_2 start and end](previews/task5-2_tower_insertion_2_start_end.jpg)
166
+
167
+ ### Task5-3 · `task5-3_tower_insertion_3`
168
+
169
+ ![task5-3_tower_insertion_3 start and end](previews/task5-3_tower_insertion_3_start_end.jpg)
170
+
171
  ## Reading and Verification
172
 
173
  ```bash
 
186
 
187
  The dataset preserves the original 30 FPS timeline. No model-specific action transformation or normalization has been applied.
188
 
189
+ ### Downloading only the Task4/Task5 addition
190
+
191
+ ```python
192
+ from huggingface_hub import snapshot_download
193
+
194
+ snapshot_download(
195
+ repo_id="tower-benchmark/TOWER-SimData",
196
+ repo_type="dataset",
197
+ local_dir="TOWER-SimData",
198
+ allow_patterns=["data/task4-*/*.hdf5", "data/task5-*/*.hdf5",
199
+ "MANIFEST.jsonl", "CHECKSUMS.sha256", "schema/*",
200
+ "README.md", "LICENSE", "CITATION.cff"],
201
+ )
202
+ ```
203
+
204
+ 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.
205
+
206
  ## License and Citation
207
 
208
  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).
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