Ablation_Cup_physical

Ablation_Cup_physical: 2,000 successful sim demos of the bimanual cup-to-basket handover for the visual vs physical domain-randomization ablation (data_collection/cup_basket/ablation_vp, 2026-11-07). v6 program cup_handover_v6.py (right close recorded 0.70 / executed 0.50), seeds 60001+, cup-safe gripper randomization in all four sets (open 0.10-0.157 both arms, left executed close 1.3-1.5), cut at exactly 2,000 successes in part order. Physical randomization only: start pose +-2 deg on both arms, table height -2/-1/0/+1/+2 cm cycled per part, camera mount and FOV jitter. Table, backdrop, lights and cup colour nominal. Layouts, program parameters and gripper values match the other Ablation_Cup sets episode for episode (meta pair_key; --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	932734
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 17:39 UTC from the lab server with data_collection/hf_datasets/upload_datasets.py.