Hoshipu/behavior-1k-mp-collected-turning-on-radio
BEHAVIOR-1K MP-Collected — turning_on_radio Combined dataset for BEHAVIOR-1K task 0 (turning_on_radio): 1154 success demos + 846 failure demos collected by a hybrid motion-planner + X-VLA policy pipeline on instances 301–700 (private test set, 400 instances × 5 episodes) 200 success demos from the original BEHAVIOR-1K teleoperated dataset (behavior-1k/2025-challenge-demos), merged into success/ Total: 1354 success + 846 failure = 2200 episodes (~157 GB). Layout… See the full description on the dataset page: https://huggingface.co/datasets/Hoshipu/behavior-1k-mp-collected-turning-on-radio.
BEHAVIOR-1K MP-Collected — turning_on_radio
Combined dataset for BEHAVIOR-1K task 0 (turning_on_radio):
- 1154 success demos + 846 failure demos collected by a hybrid motion-planner + X-VLA policy pipeline on instances 301–700 (private test set, 400 instances × 5 episodes)
- 200 success demos from the original BEHAVIOR-1K teleoperated dataset (
behavior-1k/2025-challenge-demos), merged intosuccess/
Total: 1354 success + 846 failure = 2200 episodes (~157 GB).
Layout
success/2025-challenge-demos/
data/task-0000/episode_XXXXXXXX.parquet # simplified obs/action
annotations/task-0000/episode_XXXXXXXX.json # skill + primitive annotation
meta/episodes/task-0000/episode_XXXXXXXX.json # per-episode metadata (MP-collected only)
meta/episodes/task-0000/episode_XXXXXXXX_bddl_transitions.json
trajectories/task-0000/episode_XXXXXXXX.hdf5 # raw OmniGibson trajectory (MP-collected only)
videos/task-0000/
observation.images.rgb.head/episode_XXXXXXXX.mp4 # all 1354 demos
observation.images.rgb.left_wrist/episode_XXXXXXXX.mp4 # all 1354 demos
observation.images.rgb.right_wrist/episode_XXXXXXXX.mp4 # all 1354 demos
observation.images.rgb.external/episode_XXXXXXXX.mp4 # MP-collected only (1154)
observation.images.depth.head/episode_XXXXXXXX.mp4 # MP-collected only (1154)
observation.images.depth.left_wrist/episode_XXXXXXXX.mp4 # MP-collected only (1154)
observation.images.depth.right_wrist/episode_XXXXXXXX.mp4 # MP-collected only (1154)
failure/2025-challenge-demos/ (same structure, MP-collected failures only)How to use the dataset
Download
huggingface-cli download Hoshipu/behavior-1k-mp-collected-turning-on-radio \
--repo-type=dataset \
--local-dir ./behavior-1k-mp-collectedOr from Python:
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="Hoshipu/behavior-1k-mp-collected-turning-on-radio",
repo_type="dataset",
local_dir="./behavior-1k-mp-collected",
)Files are stored individually and match the BEHAVIOR-1K canonical layout — no extraction step required.
demo_id ranges
Coverage by artifact
- parquet, annotations: all 2200 episodes
- meta + bddl_transitions, hdf5, depth videos, rgb.external video: only MP-collected (2000 episodes); HF-original demos lack these
- rgb.head / rgb.left_wrist / rgb.right_wrist videos: all 2200 episodes
- phase_segments: only MP-collected (2000 episodes); see below
Per-episode skill annotation
Each annotations/.../episode_XXXXXXXX.json follows the HF challenge schema with 4 skills (move to, pick up from, press, place on) and 3 primitives. For MP-collected demos, the skill boundaries are derived from the orchestrator's per-action enter/exit step numbers.
Orchestrator phase segments (MP-collected only)
phase_segments/task-0000/episode_XXXXXXXX_orchestrator_phases.json exposes the finer-grained sub-phase trace of the hybrid motion-planner + X-VLA orchestrator that produced each MP-collected episode. The 4 skill annotations group runs of related sub-phases; these files preserve the underlying 6–7 sub-phases with exact step boundaries and per-phase metadata (matched retrieval demos, IK convergence errors, grasp variant, etc.).
Schema
{
"episode_id": 7002,
"task_id": 0,
"instance_id": 700,
"trial_index": 2,
"success": true,
"total_steps": 1525,
"source_log": "2910_b1k_mp_collect.err",
"subphases": [
{"name": "navigate_to_radio", "executor": "policy", "expected_phase": 0, "step_lo": 0, "step_hi": 50, "n_steps": 51},
{"name": "pick_up_radio_approach", "executor": "mp", "expected_phase": 1, "step_lo": 51, "step_hi": 500, "n_steps": 450,
"metadata": {"matched_demo": 460, "grasp_variant": "B", "approach_dist": 2.5393, "bridge_len": 100, "traj_len": 350, "total_len": 450}},
{"name": "pick_up_radio_grasp", "executor": "mp", "expected_phase": 1, "step_lo": 501, "step_hi": 577, "n_steps": 77,
"metadata": {"grasp_variant": "B", "radio_xyz": [...], "grasp_xyz": [...], "grasp_quat": [...],
"ik_waypoints": [{"wp": 1, "of": 2, "status": "CONVERGED", "err_rad": 0.0056, "retries": 0}, ...]}},
{"name": "close_right_gripper", "executor": "mp", "expected_phase": 1, "step_lo": 578, "step_hi": 607, "n_steps": 30,
"metadata": {"source": "state23", "r_grip_target": -1.0, "hold_frames": 30, "prev_r_grip_state": -0.265}},
{"name": "press_radio", "executor": "mp", "expected_phase": 2, "step_lo": 608, "step_hi": 1517, "n_steps": 910,
"metadata": {"matched_demo": 930, "press_dist": 0.2211, "bridge_len": 716, "traj_len": 194, "total_len": 910}},
{"name": "wrap_up_policy", "executor": "policy", "expected_phase": 3, "step_lo": 1518, "step_hi": 1524, "n_steps": 7,
"metadata": {"max_frames": 300}}
]
}Sub-phase list
step_lo / step_hi are inclusive frame indices into the parquet (step_hi == total_steps - 1 for the last sub-phase). Phases that didn't execute in a given episode (e.g. put_down_radio when the radio toggled on during press_radio) are simply absent.