leesangoh/dynamics-probing
PhysProbe Dynamics Probing Dataset Manipulation episodes from Isaac Lab collected for probing physics understanding in video world models (V-JEPA 2, VideoMAE, DINOv2). Each episode includes dual-camera RGB (384×384), robot state, scripted/RL actions, and per-timestep physics ground truth (contact forces, object kinematics, physics randomization parameters). Tasks Task Episodes Policy Physics Randomization Push 1,500 Scripted (random direction, no target… See the full description on the dataset page: https://huggingface.co/datasets/leesangoh/dynamics-probing.
Update README for 2026-04-23 recollection
Recollected nut_thread (2026-04-23 fix: contact forces restored)
Recollected peg_insert (2026-04-23 fix: contact forces restored)
Recollected drawer (2026-04-23 fix: contact forces restored)
Recollected reach (2026-04-23 fix: contact forces restored)
Recollected strike (2026-04-23 fix: contact forces restored)
Recollected push (2026-04-23 fix: contact forces restored)
Clear old nut_thread before 2026-04-23 recollection overwrite
Clear old peg_insert before 2026-04-23 recollection overwrite
Clear old drawer before 2026-04-23 recollection overwrite
Clear old reach before 2026-04-23 recollection overwrite
Clear old strike before 2026-04-23 recollection overwrite
Clear old push before 2026-04-23 recollection overwrite
Re-collect drawer with fixed physics randomization
Re-collect strike with fixed physics randomization
Re-collect push with fixed physics randomization
Add RL checkpoint: drawer_rsl_rl.pt
Add RL checkpoint: nut_thread_rl_games.pth
Add RL checkpoint: peg_insert_rl_games.pth
Add pip freeze for reproducibility
Add environment info (Isaac Sim version, GPU, collection config)
Add reproducibility section with code link + checkpoint info
Generalize README: remove V-JEPA 2 specifics, vision→video encoder
Remove citation section
Add dataset README
Add drawer step0 data
Add reach step0 data
Add nut_thread step0 data
Add peg_insert step0 data
Add strike step0 data
Add push step0 data
initial commit