Real · Square D2
Collection
Square D2 raw collections, training views, policy rollouts and evaluations. Release 2026-09-22. • 53 items • Updated
Datasets:
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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 | policy_id int64 | round_id int64 | 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 | manifest_idx int64 | nut_x float32 | nut_y float32 | nut_yaw float32 | peg_x float32 | peg_y float32 | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
real-square-d2-r02-eval-b01
Part of Mulligan. Browse the release at Policy Arena.
| Property | Value |
|---|---|
| Task | real-square-d2 |
| Role | evaluation |
| Release grouping | mainline |
| Variant | Mixed/original recording |
| Model rounds | R2 |
| Episodes | 150 |
| Frames | 35930 |
| Recording FPS | 15 |
| Cameras | observation.images.wrist_left, observation.images.side_1 |
| Release tag | release-2026-09-22 |
| Parent | Original recording or policy-rollout source; see provenance below. |
Provenance
Copied from ankile/real01b-square-d2-r2-fixedinit-checkpoint100000-heldout-sobol50 at commit 96ae4c97b5bf26eac4adbce5a5ebab65fa8799a3.
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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