SimFactoryFlashPadSingle-v0

Memory-dependent humanoid manipulation demonstrations for the Unitree G1, in the same LeRobot v2.1 layout as SIMPLE's G1WholebodyTabletopGraspMP-v0.

Task. Watch the lamp on the table; it flashes one, two or three times. Then pick up the apple and place it on pad 1, 2 or 3, counting the pads from the left, matching the number of flashes.

The flashes are brief (0.5 s on, 1.0 s off) and all happen before the robot moves. The robot's motion until the pad choice is the same for every count, so the policy must remember how many flashes it saw.

Contents

Item	Value
Episodes	119 (40 × 1 flash, 40 × 2 flashes, 39 × 3 flashes)
Frames	310,990 at 50 fps (episodes 42–105 s, median 48 s)
Camera	observation.images.egocentric (G1 head_stereo_left), 640x360, h264
states / action	32-d / 36-d, same semantics as SIMPLE (see meta/modality.json)
Format	LeRobot codebase v2.1

Generation

• Physics: MuJoCo, scripted expert (SIMPLE G1 controller): validated front-on apple pick, pick-style approach to the remembered pad, table placement.
• Rendering: NVIDIA Isaac Sim replay of the recorded trajectories.
• Domain randomization per episode, SIMPLE style: lighting, table, ground and object materials, and 1 to 3 render-only GraspNet distractors.
• Curation: only complete episodes with the apple within 8 cm of the correct pad and nearer to it than any other pad (all kept episodes are within 4 mm). Every flash is verified in the recorded egocentric frames: the lit lamp is present in every frame of every flash window.

Files

• data/, meta/, videos/: the LeRobot v2.1 dataset. Per-episode environment_config.memory.flash_count holds the answer.
• simple/SimFactoryFlashPadSingle-v0.zip: the same files as one archive, in the layout of USC-PSI-Lab/psi-data (simple/<task>.zip). Ψ₀ training tools download this archive at a pinned revision.
• meta/stats_psi0.json: the normalization statistics Ψ₀ uses, identical to meta/stats.json.

Loading

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("randing2000/SimFactoryFlashPadSingle-v0")