tttonyalpha/pi05-place-500

Repeated Placement and Confirmation — 500 demonstrations

500 successful scripted simulation demonstrations for the WidowX robot, stored in LeRobot v3.0 format. This repository contains 55,479 frames at 5 Hz.

Place the carrot on the plate one, two, or three times, then press the button. Episodes end at the confirmation transition or the 240-step timeout.

Observations include the current 480×640 RGB camera image and eight robot joint positions. Actions have seven dimensions: six end-effector control dimensions and a gripper command, using arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos.

The original recorded kinematic-history columns are preserved for dataset fidelity. The memoryless π0.5 baseline explicitly excludes these columns from preprocessing and model input; it uses only the current image, current robot state, and language instruction. No model checkpoint, optimizer state, training log, or authentication credential is included.

All episodes are training demonstrations. Evaluation uses fresh simulator rollouts with held-out seeds, not a split of these recordings. Consult meta/info.json, meta/tasks.parquet, and the episode metadata for the exact stored schema and instructions. DATA_MANIFEST.json records checksums of the unchanged dataset payload.

The environment code is derived from the project-specific ManiSkill / RL4VLA fork. Third-party assets retain their upstream terms; this card does not grant additional rights to those assets.