paragon7060/arnold-success-only

ARNOLD Success-Only

This is the success-only LeRobot v3.0 derivative of paragon7060/arnold.

Episodes were retained only when the corresponding raw simulation rollout's metadata.json had success: true. The filter removed 131 failed episodes (25,530 frames) from the 3,570-episode source dataset.

Dataset summary

Field	Value
Episodes	3,439
Frames	368,563
Language tasks	454
FPS	10
Cameras	5
Resolution	480 x 480
Video codec	H.264

Episode counts by task family:

Task family	Episodes
close_cabinet	463
close_drawer	620
open_cabinet	317
open_drawer	542
pickup_object	621
pour_water	301
reorient_object	341
transfer_water	234

Provenance

• provenance/source_episode_map.jsonl maps every new episode index to its original source episode and raw rollout.
• provenance/excluded_failures.jsonl records all excluded failed rollouts.
• provenance/source.json records the source and filtering totals.

Validation

All 368,563 state, end-effector pose, and action rows were compared exactly against their corresponding raw NPZ arrays. Episode boundaries, instructions, task mappings, and contiguous indices were checked exhaustively. Each of the five camera streams contains 368,563 H.264 frames at 480 x 480 and 10 FPS, and local LeRobot loading and frame decoding were verified.