DAVIAN-Robotics/metra-alpha-ma-medium-a02-n3000
This dataset was created using LeRobot. Dataset Description Successful BananaInBowl demonstrations collected from an RFCL-trained SAC policy in Isaac Lab (RoboLab), for behaviour-cloning research on strategy diversity. Lane: metra-alpha — a sweep of the METRA intrinsic-reward scale alpha, with every other axis held fixed (banana task, 50 demos, sf=0.5, z_dim=3, phi_space=full, z_unit=true). Each dataset is one (difficulty level, alpha) cell. Difficulty here: medium. Collection:… See the full description on the dataset page: https://huggingface.co/datasets/DAVIAN-Robotics/metra-alpha-ma-medium-a02-n3000.
This dataset was created using LeRobot.
Dataset Description
Successful BananaInBowl demonstrations collected from an RFCL-trained SAC policy in Isaac Lab (RoboLab), for behaviour-cloning research on strategy diversity.
Lane: metra-alpha — a sweep of the METRA intrinsic-reward scale alpha, with every other axis held fixed (banana task, 50 demos, sf=0.5, zdim=3, phispace=full, z_unit=true). Each dataset is one (difficulty level, alpha) cell. Difficulty here: medium.
Collection: deterministic rollouts (tanh(mean), no action noise), success episodes only. Success is defined by the environment (K-step settle streak), so the hold segment is already inside every trajectory. Initial states are drawn from the curated pose bank (init_pose_source=dataset, train split) — the same distribution the policy was trained and evaluated on.
Size: exactly 3000 episodes, physically subset from a larger merged dataset with a fixed permutation. Do not use LeRobot's runtime episodes= argument to subsample further — combined with delta_timestamps it collapses the action chunk and sets action_is_pad everywhere, and it is silent (training loss goes down).
Video: H.264, constant frame rate (CFR-normalised after merge). Non-CFR merged video breaks the torchcodec backend used by pi0.5 fine-tuning.
Actions: absolute joint positions (7) + binary gripper (1). Delta conversion, if any, happens at training time — it is not baked in here.
Provenance: meta/provenance.json records the exact policy checkpoint, sampling mode and initial-state sampler that produced this data.
Visualize
Open in the LeRobot dataset visualizer
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 3000,
"total_frames": 215633,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:3000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"gripper"
]
},
"fps": 15
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
]
},
"fps": 15
},
"observation.velocity": {
"dtype": "float32",
"shape": [
8
],
"names": null,
"fps": 15
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null,
"fps": 15
},
"observation.images.over_shoulder_left_camera": {
"dtype": "video",
"shape": [
270,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 270,
"video.width": 480,
"video.codec": "avc1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_cam": {
"dtype": "video",
"shape": [
270,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 270,
"video.width": 480,
"video.codec": "avc1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
}
}
}
}Citation
BibTeX:
[More Information Needed]