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MetaFine_CoRL26

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CoRL demos

Training data for the MetaFine π0 baseline (T1–T5).

Overview

Task	Variant tree	Mixed episodes	Mixed frames	Cameras	State	FPS	Control / obs
T1 `grasp_part`	`cap` / `body` / `mixed`	200	30,670	base + hand, 512×512, FOV ≈ 70°	9-DoF	30	`pd_joint_delta_pos` / `rgb`
T2 `grasp_move_mug`	`left` / `right` / `forward` / `mixed`	300	39,395	base + hand, 512×512, FOV ≈ 70°	9-DoF	30	`pd_joint_delta_pos` / `rgb`
T3 `toggle_switch_table`	`red` / `blue` / `mixed`	200	20,567	base + hand, 512×512, FOV ≈ 70°	9-DoF	30	`pd_joint_delta_pos` / `rgb`
T4 `put_blocks_into_boxes`	`red` / `blue` / `green` / `mixed`	300	156,151	base + hand, 512×512, FOV ≈ 57°	9-DoF	30	`pd_joint_delta_pos` / `rgb`
T5 `insert_letter`	`C` / `o` / `R` / `L` / `mixed`	400	115,894	base + hand, 512×512, FOV ≈ 70°	9-DoF	30	`pd_joint_delta_pos` / `rgb`

Per-variant episode counts: T1 cap/body = 100 each; T2 left/right/forward = 100 each; T3 red/blue = 100 each; T4 red/blue/green = 100 each; T5 C/o/R/L = 100 each (mixed merges them).

Checkpoint mapping

LeRobot dataset	Trained checkpoint
`grasp_part/mixed/lerobot`	`outputs/pi0_grasp_mixed_f70/checkpoints/030000/pretrained_model`
`grasp_move_mug/mixed/lerobot`	`outputs/pi0_grasp_move_mug_mixed/checkpoints/030000/pretrained_model`
`toggle_switch_table/mixed/lerobot`	`outputs/pi0_toggle_mixed/checkpoints/030000/pretrained_model`
`put_blocks_into_boxes/mixed/lerobot`	`outputs/pi0_put_blocks_mixed/checkpoints/030000/pretrained_model`
`insert_letter/mixed/lerobot`	`outputs/pi0_insert_letter_mixed/checkpoints/030000/pretrained_model`

Layout

demos/CoRL/
  grasp_part/                 # see grasp_part/README.md
  grasp_move_mug/             # see grasp_move_mug/README.md (T2)
  toggle_switch_table/        # see toggle_switch_table/README.md (T3)
  put_blocks_into_boxes/      # see put_blocks_into_boxes/README.md (T4)
  insert_letter/              # see insert_letter/README.md (T5)
  lerobot/                    # legacy symlinks into the trees above
    grasp_part_cap_n100_f70   → ../grasp_part/cap/lerobot
    grasp_part_body_n100_f70  → ../grasp_part/body/lerobot
    grasp_part_mixed_n200_f70 → ../grasp_part/mixed/lerobot

Each variant folder typically holds:

*.h5 / *.json — motion-plan source trajectories
*.rgb.pd_joint_delta_pos.physx_cpu.h5 (+ .json) — RGB replay used for LeRobot conversion
lerobot/ — HuggingFace LeRobot dataset (meta/, data/, videos/)
raw/ (T4 / T5) — optional ManiSkill raw episode dump from recording

Eval sensor configs mirror the RGB-replay metadata: see eval/configs/*.yaml.

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