Ablation_Block_physical

Ablation_Block_physical: 2,000 successful sim block-pick demos for the visual vs physical domain-randomization ablation (data_collection/ablation_vp, 2026-11-07). Code-as-policy program cap/programs/block_pick_v1_nocomp.py (the 2k_withoutpush recipe: no pushes, |yaw| 0-45 deg, full left-arm region, seeds 40001-40040, gripper open/close randomization). Physical randomization only: start pose +-2 deg on arm joints 1,2,4-7 (10 % nominal), table height -2/-1/0/+1/+2 cm cycled per part, camera mount and FOV jitter (wrist +-5 mm +-1.5 deg, head +-1.5 cm +-2 deg, FOV +-3 %). Table, backdrop, lights and block colour are nominal. Block pose, yaw, motion parameters and gripper values match padiredd/Ablation_Block_visual episode for episode (same pair_key = seed, batch, env; --split_rng).

FFW-SG2 (ROBOTIS) in Isaac Lab, 15 fps, 3 cameras (head, left wrist, right wrist) stretched to 240x240, 16-dim actions / 22-dim state in the real datasets' layout. Collected in the cyclo_lab real2sim pipeline (padiredd).

episodes	2000
frames	337850
fps	15
LeRobot format	v3.0
cameras	observation.images.rgb.cam_left_wrist, observation.images.rgb.cam_right_wrist, observation.images.rgb.cam_left_head
other features	observation.state, action, timestamp, frame_index, episode_index, index, task_index

Uploaded 2026-11-07 04:06 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py.