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observation.state
list
action
list
steps_to_go
int64
source
int64
intervention
int64
success
int64
is_valid
int64
reward
float32
done
int64
arm_id
int64
policy_id
int64
manifest_idx
int64
rope_x
float32
clip_left_x
float32
clip_left_y
float32
clip_left_yaw
float32
clip_left_oidx
float32
clip_right_x
float32
clip_right_y
float32
clip_right_yaw
float32
clip_right_oidx
float32
action.cartesian_velocity
list
action.cartesian_position
list
action.joint_velocity
list
action.joint_position
list
action.gripper_position
float32
action.gripper_velocity
float32
observation.state.cartesian_position
list
observation.state.joint_position
list
observation.state.joint_velocity
list
observation.state.cartesian_velocity
list
observation.state.gripper_position
float32
telemetry.franka.motor_torques_external
list
telemetry.franka.ee_wrench
list
telemetry.franka.motor_torques_measured
list
telemetry.franka.joint_torques_computed
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -0.8901915550231934, 0.5041745901107788, -0.4429272413253784, -1.2885513305664062, 0.3725426495075226, -0.26281028985977173, 0.31966131925582886 ]
4.466667
67
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real-routing-d2-c05-dagger-baseline

Part of Mulligan. Browse the release at Policy Arena.

Property Value
Task real-routing-d2
Role training-view
Release grouping mainline
Variant baseline
Model rounds R3
Episodes 50
Frames 19637
Recording FPS 15
Cameras observation.images.wrist_left, observation.images.wrist_right, observation.images.side_1, observation.images.side_2
Release tag release-2026-09-22
Parent mulligan/real-routing-d2-c05-dagger-mixed

Provenance

Copied from ankile/real01b-routing-d1-baseline-uniform-r5-ef20cov30-nocf at commit 12b43b1a04dba20a0401676282bc610e7a25acb8. Trajectory parquet, episode metadata, statistics, videos, outcomes and original episode IDs are preserved. Only release documentation and dataset identity/lineage references are normalized. The original dataset card is retained in meta/source_README.md when one existed. meta/release.json records source identity, known ancestry, schema and release checks. Existing lineage is archived in meta/source_dataset_lineage.json before identity remapping.

Collection increments (cNN) and evaluated model rounds (rNN) are different axes. Routing D2 retains historical D1-named collection and rollout ancestry. Those original task, policy and model-round identifiers are provenance, not separate released D1 benchmarks.

Evaluation recordings can become training evidence for later models. Training/test eligibility is defined per consuming model in the release recipes; the repository name alone is not a global holdout guarantee. Mixed source recordings can include additional method arms. Policy Arena selects the released mainline policies and episodes explicitly.

Labels and schemas

Success labels and review history retain the source revision. Machine stage predictions are not human-adjudicated labels. Read the original metadata and release result manifest for per-block review coverage. Camera availability, action conventions and observation fields vary across recordings; use this dataset's meta/info.json instead of assuming one schema.

The source card declares apache-2.0; this release preserves that declaration. Load using an immutable release commit or release-2026-09-22. The moving v3.0 tag is for LeRobot compatibility.

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