Datasets:

sherardliu
/

isaac-custom-task

License:

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This repository is publicly accessible, but you have to accept the conditions to access its files and content.

We provide datasets and models for reproduction.
If you want different combinations, you can use the file:
/example/dataset/merge_dataset_demo.py

Dataset	Description	Quantity
`my_task`	Simulation data	67 sets
`my_task_mimic`	MIMIC-generated data	10 sets
`real_data_blue-block_red-box`	Real scenario: blue block placed in red box	10 sets
`real_data_green-block_red-box`	Real scenario: green block placed in red box	10 sets
`real_data_orange-block_red-box`	Real scenario: orange block placed in red box	10 sets
`sim2real`	Combination of the above 5 datasets	—

Model	Dataset	Simulation Success Rate	Real-world Success Rate
`act`	`sim2real`	90%	≈70
`peft64 smolvla-500M`	`my_task + my_task_mimic + real_data_green-block_red-box`	To be tested	To be tested