episode int64 0 98 | frames int64 213 578 | hinge_range_rad listlengths 2 2 | world_span_m listlengths 3 3 | projection_valid_ratio float64 1 1 | rgb_mae_mean float64 3.02 9.27 | visual_acceptance stringclasses 1
value |
|---|---|---|---|---|---|---|
0 | 386 | [
-0.0224259392,
0.8086386299
] | [
0.0470934543,
0.0850839464,
0.0074826386
] | 1 | 8.314594 | pending |
1 | 318 | [
-0.0376127646,
1.060327858
] | [
0.0540980142,
0.1132138826,
0.0122166258
] | 1 | 6.753402 | pending |
2 | 380 | [
-0.0013301512,
0.8966503833
] | [
0.041207121,
0.0960915185,
0.0090657465
] | 1 | 6.232163 | pending |
3 | 358 | [
-0.0048300492,
0.7894382811
] | [
0.0300842297,
0.0884522611,
0.0071849486
] | 1 | 5.552456 | pending |
4 | 296 | [
2.963024024e-20,
0.5948842359
] | [
0.0284147823,
0.0641743475,
0.0041435635
] | 1 | 5.811318 | pending |
5 | 534 | [
-0.0002165473,
0.8708013154
] | [
0.0339074819,
0.0957943811,
0.0085653362
] | 1 | 5.360036 | pending |
6 | 275 | [
-0.0171898326,
0.8837269792
] | [
0.0485965928,
0.0931590759,
0.0088604329
] | 1 | 6.116196 | pending |
7 | 354 | [
-0.0019196627,
0.8295391083
] | [
0.041168771,
0.0874558045,
0.0077519346
] | 1 | 5.172986 | pending |
8 | 292 | [
-0.0030755919,
0.7957799649
] | [
0.0452539181,
0.0820432227,
0.0072689467
] | 1 | 5.432898 | pending |
9 | 288 | [
-0.0061581639,
0.8640373756
] | [
0.0430788247,
0.0917827272,
0.0084450257
] | 1 | 5.327462 | pending |
10 | 317 | [
7.343374306e-20,
0.7860913259
] | [
0.0368507578,
0.0847594998,
0.0071252409
] | 1 | 4.656474 | pending |
11 | 308 | [
6.615062477e-20,
0.8905817878
] | [
0.0431752147,
0.0940499374,
0.0089120213
] | 1 | 4.62219 | pending |
12 | 270 | [
7.254300198e-20,
0.8235897587
] | [
0.0479700062,
0.0835270573,
0.0077316874
] | 1 | 5.129497 | pending |
13 | 499 | [
-0.0008727729,
0.7935395067
] | [
0.0309983902,
0.0879166246,
0.0072253933
] | 1 | 5.01589 | pending |
14 | 438 | [
-0.0443118636,
0.7962773866
] | [
0.0469223876,
0.0867019682,
0.0073087221
] | 1 | 4.50735 | pending |
15 | 249 | [
-0.0016514866,
0.817841475
] | [
0.0420557516,
0.0860525329,
0.007623086
] | 1 | 5.573965 | pending |
16 | 331 | [
-2.39e-8,
0.8215740104
] | [
0.0317836457,
0.0908370481,
0.0077042313
] | 1 | 6.536041 | pending |
17 | 229 | [
0,
0.8782548945
] | [
0.0428015159,
0.0922888285,
0.0086149285
] | 1 | 5.974444 | pending |
18 | 297 | [
-0.0003626437,
0.8075679606
] | [
0.0315139881,
0.0892056225,
0.0074461032
] | 1 | 4.554848 | pending |
19 | 393 | [
-8.212e-7,
0.7817561513
] | [
0.0430463616,
0.0812426041,
0.0070520328
] | 1 | 4.021532 | pending |
20 | 381 | [
8.367726555e-20,
0.754691217
] | [
0.0402114518,
0.0796392508,
0.0066449128
] | 1 | 6.711739 | pending |
21 | 441 | [
-0.0029465721,
0.7539822532
] | [
0.0355658605,
0.0822544266,
0.006655132
] | 1 | 5.033888 | pending |
22 | 395 | [
-0.0053483513,
0.8025272396
] | [
0.0415405188,
0.0850844941,
0.0073812894
] | 1 | 4.767354 | pending |
23 | 308 | [
1.818159746e-20,
0.7904466392
] | [
0.0328691932,
0.0868589847,
0.0071915404
] | 1 | 5.949236 | pending |
24 | 323 | [
2.182315661e-20,
0.8224992524
] | [
0.0291546403,
0.0918201682,
0.0077056672
] | 1 | 4.827182 | pending |
25 | 338 | [
7.136407995e-20,
0.7781825818
] | [
0.0336965417,
0.0851248429,
0.0069929871
] | 1 | 5.574313 | pending |
26 | 423 | [
5.698123124e-20,
0.8788504598
] | [
0.0416960462,
0.0933559355,
0.0087010491
] | 1 | 4.330089 | pending |
27 | 384 | [
-0.0014578487,
0.7345833014
] | [
0.0230829506,
0.0841985257,
0.0063208259
] | 1 | 7.13735 | pending |
28 | 287 | [
1.642631356e-20,
0.8643555265
] | [
0.0340472986,
0.0951921845,
0.0084859302
] | 1 | 5.162301 | pending |
29 | 415 | [
3.027209779e-19,
0.8770049216
] | [
0.0434685389,
0.092659881,
0.0087189701
] | 1 | 4.929136 | pending |
30 | 388 | [
8.312710194e-20,
0.7509868093
] | [
0.0406374358,
0.0789042879,
0.0065772604
] | 1 | 4.605501 | pending |
31 | 468 | [
-0.0007918484,
0.8052778906
] | [
0.035384287,
0.0876523839,
0.0074379386
] | 1 | 5.271323 | pending |
32 | 578 | [
-0.000009559,
0.7953980504
] | [
0.0364747567,
0.0859848943,
0.007274829
] | 1 | 6.434564 | pending |
33 | 375 | [
-0.0002621965,
0.7174762751
] | [
0.0332878624,
0.0779203207,
0.0059981524
] | 1 | 5.430375 | pending |
34 | 371 | [
-0.0000085173,
0.8195721264
] | [
0.0394397981,
0.0876158722,
0.0076937416
] | 1 | 5.413625 | pending |
35 | 407 | [
-0.0037734837,
0.8051892142
] | [
0.0289457203,
0.0904246974,
0.0074264106
] | 1 | 5.365274 | pending |
36 | 360 | [
-0.0014121319,
0.8033588748
] | [
0.0453422899,
0.083012393,
0.0074363777
] | 1 | 6.842658 | pending |
37 | 516 | [
-0.0008972925,
0.794323188
] | [
0.0338827624,
0.0871502914,
0.0072749861
] | 1 | 8.603499 | pending |
38 | 306 | [
2.834652515e-20,
0.7833647871
] | [
0.0362927099,
0.0846293258,
0.0070734243
] | 1 | 3.867758 | pending |
39 | 501 | [
1.495921059e-20,
0.7276621785
] | [
0.0275194431,
0.0816099568,
0.0061956584
] | 1 | 6.745986 | pending |
40 | 298 | [
-0.000003465,
0.7544985731
] | [
0.029515971,
0.084307629,
0.0066576804
] | 1 | 4.897908 | pending |
41 | 326 | [
-0.0156245737,
0.7406361434
] | [
0.0322594941,
0.0831291859,
0.006381142
] | 1 | 5.642063 | pending |
42 | 550 | [
-0.000844759,
0.7560316806
] | [
0.0384325416,
0.0807128858,
0.0066580212
] | 1 | 5.168855 | pending |
43 | 408 | [
-0.000590486,
0.7813134341
] | [
0.033785236,
0.0856416015,
0.0070605971
] | 1 | 4.195234 | pending |
44 | 374 | [
6.753913294e-20,
0.7537384999
] | [
0.0405347844,
0.0793104315,
0.0066233537
] | 1 | 5.583827 | pending |
45 | 355 | [
-8e-9,
0.4151550579
] | [
0.0068033684,
0.0493493701,
0.0021179063
] | 1 | 9.274427 | pending |
46 | 404 | [
1.150627897e-19,
0.7541330874
] | [
0.0369722091,
0.0810389484,
0.0066242126
] | 1 | 5.180337 | pending |
47 | 431 | [
5.648346416e-20,
0.736271408
] | [
0.0365579334,
0.078895896,
0.006316614
] | 1 | 5.342483 | pending |
48 | 287 | [
6.135634187e-20,
0.7880543964
] | [
0.0295840004,
0.0879153891,
0.0071648201
] | 1 | 4.60838 | pending |
49 | 293 | [
-0.015041176,
0.799053727
] | [
0.0364367236,
0.0882741932,
0.0073390428
] | 1 | 5.207971 | pending |
50 | 365 | [
-0.0004322908,
0.7389538194
] | [
0.0322646542,
0.0814073369,
0.0063979111
] | 1 | 4.045651 | pending |
51 | 339 | [
-0.0015991197,
0.8174310713
] | [
0.040941478,
0.0869311271,
0.0076668953
] | 1 | 6.190046 | pending |
52 | 416 | [
8.430602397e-20,
0.713749727
] | [
0.0229348926,
0.0818756083,
0.0060278205
] | 1 | 8.810665 | pending |
53 | 430 | [
-0.0575039825,
0.8512233428
] | [
0.0503559558,
0.0932803485,
0.0082688588
] | 1 | 5.241452 | pending |
54 | 387 | [
-0.0122460985,
0.7644591212
] | [
0.0245101121,
0.0884291645,
0.0067859935
] | 1 | 4.671782 | pending |
55 | 346 | [
-0.0357663189,
0.7427506461
] | [
0.0375239537,
0.0837394834,
0.0064258061
] | 1 | 4.608921 | pending |
56 | 394 | [
-0.0595633152,
0.7557713584
] | [
0.0408390167,
0.0870060739,
0.0066709538
] | 1 | 4.401485 | pending |
57 | 387 | [
-0.0006067222,
0.7449726195
] | [
0.0380850053,
0.0794944177,
0.0064788382
] | 1 | 5.58621 | pending |
58 | 415 | [
-0.0002612604,
0.7286533529
] | [
0.0345882204,
0.079009561,
0.0062117438
] | 1 | 3.375275 | pending |
59 | 370 | [
7.047333887e-20,
0.9909361099
] | [
0.0463478523,
0.1050277043,
0.0109261122
] | 1 | 5.122343 | pending |
60 | 372 | [
-0.0037301194,
0.9637321211
] | [
0.0482675064,
0.1003411758,
0.0102296604
] | 1 | 4.513579 | pending |
61 | 509 | [
-0.1032762151,
0.8281976373
] | [
0.0303301696,
0.1053986746,
0.0079372617
] | 1 | 4.12978 | pending |
62 | 538 | [
-0.3009287613,
0.6767989794
] | [
0.0307797037,
0.109794769,
0.0052914067
] | 1 | 6.015842 | pending |
63 | 311 | [
-0.0303789107,
0.8570302024
] | [
0.0445709503,
0.0933181568,
0.0083357751
] | 1 | 6.719404 | pending |
64 | 292 | [
-0.0021490499,
0.7861149656
] | [
0.0293354917,
0.0883033682,
0.0071705083
] | 1 | 3.553398 | pending |
65 | 377 | [
-0.0514588535,
0.9557941154
] | [
0.0469410323,
0.1054525809,
0.0100110041
] | 1 | 4.241361 | pending |
66 | 390 | [
-0.0125949072,
0.8336732962
] | [
0.0329199642,
0.0932364958,
0.007899125
] | 1 | 3.756923 | pending |
67 | 396 | [
-0.174729805,
0.8733492578
] | [
0.0529792214,
0.1076418537,
0.0084718954
] | 1 | 3.495961 | pending |
68 | 393 | [
-0.0584308515,
0.8634057438
] | [
0.0419640997,
0.0989979256,
0.0084956879
] | 1 | 4.209975 | pending |
69 | 323 | [
-0.111828566,
0.9276712577
] | [
0.0546059972,
0.1061562785,
0.0095669944
] | 1 | 8.513646 | pending |
70 | 283 | [
-0.0942225029,
0.9389998063
] | [
0.0539577139,
0.1057726578,
0.0097942194
] | 1 | 4.291792 | pending |
71 | 302 | [
-0.0043122548,
0.8181923496
] | [
0.0462612295,
0.0838902607,
0.0075737973
] | 1 | 3.616276 | pending |
72 | 241 | [
-0.0000634593,
0.8906861353
] | [
0.0408080005,
0.0951301398,
0.0089122056
] | 1 | 5.195938 | pending |
73 | 221 | [
-0.0744866277,
0.8380272789
] | [
0.0453611962,
0.0957563521,
0.0079479955
] | 1 | 3.507655 | pending |
74 | 257 | [
-0.0000048918,
0.9075071813
] | [
0.0427226612,
0.0960951835,
0.0091985189
] | 1 | 4.387205 | pending |
75 | 213 | [
-0.0034354291,
0.8727914493
] | [
0.0323022045,
0.0968449352,
0.0085705727
] | 1 | 3.695523 | pending |
76 | 253 | [
-0.0099696791,
0.8297009485
] | [
0.0310814515,
0.0935190967,
0.0078834581
] | 1 | 4.189615 | pending |
77 | 306 | [
1.503780539e-20,
0.6895487576
] | [
0.0235939794,
0.0787445586,
0.0056483956
] | 1 | 4.420181 | pending |
78 | 314 | [
-0.0010639826,
0.9390852589
] | [
0.0559410687,
0.0925074078,
0.009697924
] | 1 | 4.260677 | pending |
79 | 345 | [
-0.2213924817,
1.0740333002
] | [
0.053294818,
0.1375336544,
0.0125744185
] | 1 | 5.647989 | pending |
80 | 342 | [
6.557426289e-20,
0.9249929344
] | [
0.0384082172,
0.0995323632,
0.0094403928
] | 1 | 3.954385 | pending |
81 | 364 | [
-2.398e-7,
0.8524151578
] | [
0.0372183456,
0.0921030582,
0.0082147952
] | 1 | 3.954203 | pending |
82 | 302 | [
-0.1179447806,
0.9763570924
] | [
0.0462351685,
0.1160215794,
0.010371092
] | 1 | 3.64295 | pending |
83 | 260 | [
-0.296062618,
0.8426814924
] | [
0.0372024128,
0.1265227094,
0.0080624982
] | 1 | 4.213176 | pending |
84 | 339 | [
-0.3692269559,
0.6888721886
] | [
0.0302676799,
0.1207396396,
0.005655999
] | 1 | 5.953125 | pending |
85 | 295 | [
8.391304996e-20,
0.9242789208
] | [
0.0400959444,
0.0989293255,
0.0094604102
] | 1 | 4.004019 | pending |
86 | 406 | [
-0.0117532231,
0.8395032153
] | [
0.0300893929,
0.0939876849,
0.0078667751
] | 1 | 3.61638 | pending |
87 | 384 | [
1.427805564e-20,
0.8066202934
] | [
0.0389426883,
0.0862328012,
0.0074635747
] | 1 | 3.945991 | pending |
88 | 328 | [
7.097110594e-20,
0.9731539509
] | [
0.0435227809,
0.1029244694,
0.0103558011
] | 1 | 3.020057 | pending |
89 | 404 | [
-0.3668244963,
1.074692229
] | [
0.0521416029,
0.1530191302,
0.0122814962
] | 1 | 3.408856 | pending |
90 | 386 | [
6.829888269e-20,
0.8882057594
] | [
0.0382412307,
0.0957359921,
0.0088340452
] | 1 | 6.115104 | pending |
91 | 348 | [
-0.1563185456,
0.8789785653
] | [
0.0516327033,
0.1075759939,
0.0086975197
] | 1 | 3.778134 | pending |
92 | 395 | [
-0.0009922166,
0.8800430397
] | [
0.0397304641,
0.0942689782,
0.0086889676
] | 1 | 4.129051 | pending |
93 | 423 | [
6.431674607e-20,
0.9157630119
] | [
0.0570650943,
0.0895700679,
0.0093819671
] | 1 | 4.105646 | pending |
94 | 423 | [
-0.0179801606,
0.8246176179
] | [
0.0468491777,
0.0861253574,
0.0076871035
] | 1 | 4.20671 | pending |
95 | 345 | [
-0.057628918,
0.8818164205
] | [
0.0504158239,
0.0964683211,
0.0087461759
] | 1 | 7.438548 | pending |
96 | 331 | [
-0.0204522102,
0.9337406679
] | [
0.03942798,
0.1030791441,
0.0096826956
] | 1 | 3.314929 | pending |
97 | 420 | [
-0.0643868701,
0.8763662636
] | [
0.0430540177,
0.1002511567,
0.0086520504
] | 1 | 3.577705 | pending |
98 | 325 | [
-0.0196151567,
0.8517252176
] | [
0.0353780477,
0.0950469624,
0.0081861671
] | 1 | 3.476024 | pending |
OpenFaucet v5 auxiliary labels
This repository contains labels for 99 SIMPLE OpenFaucet processed episodes (35,808 frames), not RGB/depth videos, raw recordings, teacher weights, or trained policy checkpoints.
ARDY labels (ardy/G1WholebodyOpenFaucetTeleop-v0)
128D frozen official ARDY tokenizer labels, with valid-history/loss masks and raw episode/frame mapping. 35,214 frames participate in the ARDY auxiliary loss. These are generated from official raw body joints and base poses; raw base poses are a proxy for the processed replay, not measured replay ground truth. The complete formal manifest binds the processed dataset fingerprint and exact teacher/source hashes. The first six frames are excluded from the loss.
Fixed installation-point candidates (faucet-anchor-candidates/G1WholebodyOpenFaucetTeleop-v0)
35,709 valid next-frame positions of the fixed faucet installation point, in the next
raw robot-base coordinate frame, in meters. These are explicitly marked candidate and
training_enabled=false. They are NOT dynamic faucet-handle trajectories or object displacement
ground truth. Position changes arise from robot-base movement. The last frame is invalid.
The ordinary scene target is a cracker box, not the faucet; do not use its pose as faucet GT.
The official recordings do not include per-frame faucet joint/handle trajectories.
Sources and verification
- Raw: USC-PSI-Lab/psi-data, revision
79baf58cf2147a4b975eab17cec761707b52df04, OpenFaucet teleop archive. - Teacher: nvidia/ARDY-G1-RP-25FPS-Horizon52,
revision
059b8007df0ba194a006a877b59a563955ac7b70. - Teacher code: nv-tlabs/ardy, commit
693f74d13b3d04a0a22ce127ee79c929dd89756b. - Generation code: Psi0 v5.
The original source/model license terms apply; publishing these derived labels does not replace those terms. Teacher weights and source datasets are not redistributed here.
upload-manifest.json contains per-file byte counts and SHA256/Git blob hashes. The original
sidecar manifests contain generation provenance and episode-level SHA256 values. ARDY
golden-reference verification permits <=1e-6 floating-point error across CUDA versions while
requiring exactly identical FSQ codes; CPU results that changed codes were rejected.
No policy training or closed-loop performance claim is made.
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