Ablation_Block_visual_raw

Visual vs physical DR ablation (data_collection/ablation_vp, 2026-11-07), VISUAL set: code-as-policy block pick, program cap/programs/block_pick_v1_nocomp.py (2k_withoutpush recipe: no pushes, |yaw| 0-45 deg, full region, gripper open/close randomization), seeds 40001-40040, 40 parts x 50 successes, --split_rng. Visual randomization only: table look, backdrop, block colour, dr2 room lights, spot lights (per-episode values in meta.json dr). Paired with Ablation_Block_physical_raw by meta.json pair_key (seed, batch, env). Part 12 was re-collected after a worker was stopped (logs/abl_visual_p012.killed.log).

Raw Isaac Lab / Isaac Sim 5.1 collector output for the ROBOTIS FFW SG2 (cyclo_lab real2sim pipeline, padiredd). Kept because it has what the converted LeRobot sets do not: full-resolution video, per-episode randomisation / object metadata and the failed attempts (success: false).

folders	40 (abl_visual_p001 ... abl_visual_p040)
episodes	2,107 (2,000 successful)
episodes with video	2,107
files / size	10,616 / 18.2 GB

Converted LeRobot sets (successes only, cameras stretched to 240x240):

• padiredd/Ablation_Block_visual

Layout

• <folder>/index.json: collector config of that part and its episode list
• <folder>/episode_NNNN/: cam_left_head.mp4, cam_left_wrist.mp4, cam_right_wrist.mp4, meta.json, obs.npz
  • obs.npz (example episode, T steps at 15 fps): timestamp (138,), state (138, 22), action (138, 16), cube_pose (138, 7), tcp_pose (138, 7), tcp_target (138, 7), phase (138,)
  • meta.json keys: episode, success, arm, cube_init_xy_yaw, cube_settled_pos, cube_lift, gripper_joint1_end, final_phase, table_top_z, program_sha, program_result, params, skills, dr, start_pose, pair_key, length, fps
• logs/: collector logs
• Cameras: cam_left_head.mp4 (672x376), cam_left_wrist.mp4, cam_right_wrist.mp4 (240x424), H.264.

Uploaded 2026-11-07 04:11 UTC with data_collection/hf_datasets/upload_raw.py.