ghkim-rlwrld/shell_game_eef_global

shell_game — delta EEF, global instruction

Cups hide a red block, the cups are shuffled by hand, and the arm lifts the cup the block ended under. 45 episodes, 18,442 frames.

Delta EEF, 10-dim. Every frame carries the same sentence: Find the cup hiding the block after the swaps and move it into the basket.

Paired with shell_game_eef_subtask, which differs only in the language: same episodes, same action space, per-frame subtasks instead of one sentence.

Converted from the recorder's DROID-schema teleoperation.h5, one episode per directory, with the videos re-encoded all-intra. The raw h5 is the source of record and lives at ghkim-rlwrld/shell_game; anything that needs a different action representation or a fresh label pass has to go back to it, not to this tree.

Cameras are three stereo pairs and only the left eye is shipped here, which is what a policy reading three streams actually loads:

11845904  wrist        looks down over the gripper
37149196  cam_ext_left   external, to the robot's left
34022131  cam_ext_right  external, to the robot's right

Control rate is 9.2 Hz measured. The mp4 containers say 10 fps and are wrong.

Naming

<task>_<action space>_<language>. An earlier set of names took the action space from one dataset and the language from another, so they could not be compared side by side.

	action	language
shell_game_joint_global	7 joints + gripper (8)	one sentence per episode
shell_game_eef_global	delta EEF, xyz + rot6d + gripper (10)	one sentence per episode
shell_game_eef_subtask	delta EEF (10)	per-frame subtask
solve_equation_eef_subtask	delta EEF (10)	per-frame subtask

Why rot6d and not rpy

This recorder's roll sits at +-pi and flips sign 269 times across the 45 shell_game episodes. Regressing the raw angle puts a 2*pi step in the target at every flip. Unwrapping and moving to the first two columns of the rotation matrix leaves 0 discontinuities and takes the roll channel from std 3.08 to 0.039. The delta mask is (9, -1): position and rotation relative to the current state, gripper absolute.

A runtime that wants 7-dim xyz+rpy can recover it exactly — Gram-Schmidt the two 3-vectors, take the third by cross product, then as_euler("xyz"), verified to 4.44e-16 over 41 episodes. Doing that at inference is safe; training on rpy is not, for the reason above.