schema string | protocol_sha256 string | rows list | scene_ids list | sample_count int64 | samples_sha256 string | feature_source string | supervision_origin string | physical_robot_ready bool |
|---|---|---|---|---|---|---|---|---|
dvidia.piper-imitation-study/v1 | a7869a80ed801ab0ee85ab699a3d6231a17f4aa70109e519e0e03129ad30969f | [
{
"id": "train-00-goal0",
"start_xy": [
0.284,
-0.045
],
"goal_xy": [
0.35,
0.08
],
"seed": 261000,
"episode": "demonstrations/train-00-goal0.json.gz",
"sha256": "5caade187a07bf241f64d9ff9696de7344734b81909a641bcb93fc02ec2d4b12",
"score": {
"success"... | [
"train-00-goal0",
"train-00-goal1",
"train-01-goal0",
"train-01-goal1",
"train-02-goal0",
"train-02-goal1",
"train-03-goal0",
"train-03-goal1",
"train-04-goal0",
"train-04-goal1",
"train-05-goal0",
"train-05-goal1",
"train-06-goal0",
"train-06-goal1",
"train-07-goal0",
"train-07-goal1"... | 32,000 | b654be09d1d375bf0eebc7e2cde6718673cdd68ed1f8117ac256ec275005f3ec | causal pre-action observations only; no phase/outcome labels in input whitelist | synthetic_authored_controller | false |
PiPER block-placement demonstrations v0.1
Synthetic simulator demonstrations for the first learned PiPER block-placement benchmark. The demonstrations come from a synthetic teacher and contain privileged simulator state/action observations; they are not human demonstrations or footage. The dataset includes all scheduled teacher demonstrations, held-out attempts, source snapshots, earlier failed MLP candidate checkpoints and all their development traces, the frozen protocol, and declared limitations for audit. Selected v2 primitive inputs: reset-time object XY, one of the two known goal coordinates, and elapsed time. Live joint positions are used only by generic native joint-target caps. The selected policy does not consume TCP or contact estimates and does not learn contact feedback or recovery. The retained demonstrations and evaluation traces contain richer privileged simulator data; those records do not change this selected-policy input contract.
Confirmation encountered a serialization guard: the live configuration used tuples, while the persisted JSON representation used lists. A bounded adapter checked the exact error and the frozen bindings, then resumed scoring from each already-saved native episode tape; it did not rerun physics. The adapter source, root summary, and per-attempt recovery records are retained in sources/piper_imitation_driver.py, driver-recovery.json, and driver-recovery/. The published report keeps the same frozen confirmation roster and result counts, and the recovery summary records zero completed tapes reexecuted.
Open the recorded replay evidence for the browser viewer.
These artifacts do not establish camera-only control, physical robot performance, or hardware readiness.
Original DVIDIA artifact files are released under the MIT License. Upstream robot assets retain their own licenses.
The report declares 5 variants and 7 limitation entries. Variant results are recorded below; read the report for per-attempt outcomes.
| Variant | Successes / scheduled |
|---|---|
| learned | 5 / 12 |
| teacher | 12 / 12 |
| open_jaw | 0 / 12 |
| hold | 0 / 12 |
| shuffled_labels | 0 / 12 |
Declared limitations
- Synthetic state/action demonstrations from an authored PiPER controller, not human video or teleoperation.
- Earlier MLP candidates used privileged simulator joint, TCP, object and contact measurements; no vision pipeline was trained. This broad report statement describes those candidates, not the selected v2 primitive input contract.
- Only starting-position interpolation for a 40 g rigid block and two trained destinations is evaluated.
- The pinned native servo and rate limiter remain authored low-level control; no teacher, phase machine or IK is called by the student.
- Uncalibrated simulated friction, contacts and actuators; no physical robot qualification or other-arm transfer.
- Compute latency excludes sensing, camera processing, communication and physical actuation; CPU/GPU minima are not certified.
- Simulation-only time-conditioned trajectory distillation from synthetic authored-controller demonstrations. Initial privileged object XY, two known goals and measured clock condition learned feed-forward references; native servos remain authored. No learned contact feedback, recovery, camera learning or physical robot qualification.
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