PP02 dict | _searched dict | PP05 dict | PP08 dict | MS24 dict | MS25 dict |
|---|---|---|---|---|---|
{
"T0": [
1000001,
1000002,
1000003,
1000004,
1000005,
1000006,
1000008,
1000009,
1000010,
1000013
],
"T1": [
1100003,
1100004,
1100005
],
"T2": [
1200003,
1200007,
1200009
],
"T3": [
1300009,
1300010,
1300011
]
} | {
"PP02": {
"commit": "963c4ef",
"criteria": {
"gate": "ok",
"hold_steps": 10
}
},
"PP05": {
"commit": "963c4ef",
"criteria": {
"gate": "ok",
"hold_steps": 10
}
},
"PP08": {
"commit": "60d23a8",
"criteria": {
"gate": "ok",
"hold_steps": 10
... | {
"T0": [
1000000,
1000002,
1000003,
1000005,
1000007,
1000008,
1000012,
1000014,
1000017,
1000018
],
"T1": [
1100000,
1100001,
1100002
],
"T2": [
1200000,
1200001,
1200003
],
"T3": [
1300003,
1300005,
1300011
]
} | {
"T0": [
1000000,
1000002,
1000005,
1000006,
1000007,
1000013,
1000015,
1000016,
1000017,
1000019
],
"T1": [
1100000,
1100001,
1100002
],
"T2": [
1200012,
1200018,
1200022
],
"T3": [
1300001,
1300005,
1300009
]
} | {
"T0": [
1000000,
1000001,
1000003,
1000004,
1000006,
1000010,
1000022,
1000023,
1000024,
1000025
],
"T1": [
1100000,
1100004,
1100005
],
"T2": [
1200000,
1200002,
1200006
],
"T3": [
1300022,
1300023,
1300024
]
} | {
"T0": [
1000000,
1000002,
1000005,
1000008,
1000010,
1000011,
1000015,
1000016,
1000020,
1000021
],
"T1": [
1100003,
1100009,
1100013
],
"T2": [
1200001,
1200002,
1200005
],
"T3": [
1300011,
1300019,
1300031
]
} |
pp-bench
Simulated pick-and-place demonstrations of RoboStudio's Galaxea R1 Pro (r1pro_rs, a driving base)
on ManiSkill3 / SAPIEN, from HQ-Bench's PickPlace-v1. One LeRobot v3.0 dataset per task, in a
folder named after it.
- 20 Hz, joint-position actions (23) and state (28); three cameras, head and both wrists, 224x224,
path-traced (
rt-med). - Each episode has its own instruction ("Put the tissue box in the box.").
- Per task 200 episodes: 100 with no clutter (T0) and 25 at each clutter level T1, T2, T3, TH.
- A demonstration is kept when the scripted planner solves it with RoboStudio's collision gate at "ok", the success held for 10 steps, and no arm or torso joint moving over 0.5 rad in a step.
| folder | task | episodes |
|---|---|---|
| PP02 | Put the {object} in the {box}. | 200 |
The TH episodes here have obstructors standing against the target; a later version sets them in its way, to be moved aside first.
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