part int64 0 3 | demos int64 25 25 | samples int64 17.3k 17.9k | scene_seeds listlengths 25 25 | source listlengths 25 25 | note stringclasses 1
value |
|---|---|---|---|---|---|
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"open_drawer_mp_20.hdf5:demo_3",
"open_drawer_mp_20.hdf5:demo_4",
"open_drawer_mp_20.hdf5:demo_5",
"open_drawer_mp_20.hdf5:demo_6",
"open_drawer_mp_20.hdf5:demo_7",
"open_drawer_mp_20.hdf5:demo_8",
"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
1 | 25 | 17,617 | [
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"open_drawer_mp_10_s50.hdf5:demo_1",
"open_drawer_mp_10_s50.hdf5:demo_2",
"ope... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
2 | 25 | 17,508 | [
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"open_drawer_mp_25_s100.hdf5:demo_6",
"open_drawer_mp_25_s100.hdf5:demo_7"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
3 | 25 | 17,460 | [
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"open_drawer_mp_25_s150.hdf5:demo_6",
"open_drawer_mp_25_s150.hdf5:demo_7"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
0 | 25 | 17,587 | [
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"open_drawer_mp_25_s200.hdf5:demo_4",
"open_drawer_mp_25_s200.hdf5:demo_5",
"open_drawer_mp_25_s200.hdf5:demo_6",
"open_drawer_mp_25_s200.hdf5:demo_7"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
1 | 25 | 17,484 | [
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"open_drawer_mp_25_s250.hdf5:demo_4",
"open_drawer_mp_25_s250.hdf5:demo_5",
"open_drawer_mp_25_s250.hdf5:demo_6",
"open_drawer_mp_25_s250.hdf5:demo_7"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
2 | 25 | 17,800 | [
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"open_drawer_mp_25_s300.hdf5:demo_3",
"open_drawer_mp_25_s300.hdf5:demo_4",
"open_drawer_mp_25_s300.hdf5:demo_5",
"open_drawer_mp_25_s300.hdf5:demo_6",
"open_drawer_mp_25_s300.hdf5:demo_7"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
3 | 25 | 17,327 | [
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"open_drawer_mp_25_s350.hdf5:demo_2",
"open_drawer_mp_25_s350.hdf5:demo_3",
"open_drawer_mp_25_s350.hdf5:demo_4",
"open_drawer_mp_25_s350.hdf5:demo_5",
"open_drawer_mp_25_s350.hdf5:demo_6",
"open_drawer_mp_25_s350.hdf5:demo_7"... | existing planner demos (RoboticArmSim collect_open_drawer_demos.py, 2026-09-30 / 2026-10-18), replayed bit-identically by this repo's env and planner; cameras teleop/right/top removed |
OpenDrawer planner demos
200 motion-planner demonstrations of the Isaac Lab task OpenDrawer-ManagerBased-v0: a Franka Panda opens the top
drawer of a cabinet, puts a charger into it, and closes the drawer. They are the demos of the VIG-DAgger experiment
in david65wu/vig-dagger (branch opendrawer), whose pipeline downloads
them itself.
| folder | demos | scene seeds | use |
|---|---|---|---|
raw/planner/part_000 … 003.hdf5 |
100 | 0–174 | the base training set |
raw/planner_extra/part_000 … 003.hdf5 |
100 | 200–377 | extra planner demos for the base + planner baseline |
Each part_<k>.hdf5 is an Isaac Lab demo file with 25 demos (data/demo_<i>): actions (relative IK on the TCP,
7-D, 60 Hz), the observations before each step (obs/joint_pos, obs/pose/ee_pose = TCP pose, obs/rgb_camera/left_cam
and wrist_cam, 256×256 RGB), sim states and the task's stage latches; attributes hold the scene seed and the
planner's sampled strategy. part_<k>.done.json lists each part's demos and their source. Demos are 535–928 steps
(median 704); each succeeded by the teleop recorder's rule (success for 10 steps, then 14 more recorded) within
1200 steps, with exactly two grasps and no retries.
The demos were collected with the strategy-diverse planner and environment that the repository includes
(src/vig_dagger/expert/planner.py, src/vig_dagger/opendrawer_env/; Isaac Sim 5.1, Isaac Lab 0.54, run with
PYTHONHASHSEED=0 so that ee_pose is the TCP). Replayed with the repository's code from their scene seed and
strategy, they reproduce bit for bit. The scene's three other cameras (teleop, right, top) were removed.
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