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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- mujoco
+- robosuite
+- manipulation
+- event-camera
+- dvs
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+# dvla-can-250hz-events (250 fps native) - event frames accumulating 4 ms each
+
+1016 episodes / 1,356,080 frames at the native 250 Hz rate. Same v2e settings as the 250->25 fps
+variant, but kept at full rate: each event frame covers 4 ms, so the polarity images are sparser
+(roughly a third of the pixels of the 40 ms version).
+
+Two extra video columns on top of the 3 RGB cameras:
+`observation.images.opst_cam_events`, `observation.images.wrist_cam_events`.
+
+Note on encoding: SVT-AV1 refuses frame rates above 240 fps, so every video column here is H.264
+rather than AV1. The 25 fps variants use AV1 for the base and H.264 after the trim re-encode.
+
+The 250 Hz RGB counterpart of this dataset trains to only **36%** place success versus 61% at
+25 Hz, and the deficit is entirely on *moving* cans (static cans stay at 100%). This dataset
+exists to test whether event input recovers that gap.
+
+### Task
+
+MuJoCo / robosuite (Panda + OSC-or-IK) `place`: pick a can off the table and drop it into a
+bowl. In 80% of the episodes the can is **rolling** when the episode starts (speed sampled from
+0.25-0.75 m/s); the rest are static. Demonstrations come from a scripted state machine that
+reads privileged simulator state, and only successful attempts are kept.
+
+### Layout
+
+LeRobot v2.1, `robot_type: panda`, 3 RGB cameras at 360x480 (`wrist_cam`, `side_cam`,
+`opst_cam`). Training uses `opst_cam` + `wrist_cam` only.
+
+- `action` (10,) = `[dx, dy, dz, sin/cos of the 3 euler angles, gripper]`
+- `observation.state` (9,) = `[x, y, z, sin/cos of the 3 euler angles]`
+- `observation.environment_state` (9,) = privileged object pose/velocity. Dropped during
+  training (it is not available on a real robot).
+
+`action` is a **delta**: the absolute target minus the state of that same frame. At evaluation
+the policy output is decoded as `target = live_state + predicted_delta`, re-anchored every step.
+
+The absolute target it encodes is a **future-EE relabel**: instead of the pose the state machine
+commanded at time t, the label is the pose the arm had actually *reached* 320 ms later. A sweep
+over that offset found it matters enormously - replaying the labels open-loop succeeds 20/20 at
+320 ms but 5/20 at 200 ms and 0/20 at 40 ms.
+
+`-delta-trim` additionally drops the leading frames where the arm is still holding position, so
+that `action[0]` is a real motion rather than a placeholder (which otherwise causes a cold-start
+stall).
+
+`meta/camera.jsonl` maps each `episode_index` back to its source HDF5 filename. Conversion
+shards round-robin, so episode order is **not** source order and this file is the only way back.
+
+### Reproducing
+
+Generation, conversion, training and evaluation scripts, plus the measured results and the
+gotchas that cost the most time, are documented at https://github.com/mickeykang16/DynamicVLA/tree/mujoco.
+
+- **Homepage:** https://github.com/mickeykang16/DynamicVLA/tree/mujoco
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "panda",
+    "total_episodes": 1016,
+    "total_frames": 1356080,
+    "total_tasks": 3,
+    "total_videos": 5080,
+    "total_chunks": 2,
+    "chunks_size": 1000,
+    "fps": 250,
+    "splits": {
+        "train": "0:1016"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                10
+            ],
+            "names": [
+                "ee_pos_x",
+                "ee_pos_y",
+                "ee_pos_z",
+                "ee_rot_x_sin",
+                "ee_rot_x_cos",
+                "ee_rot_y_sin",
+                "ee_rot_y_cos",
+                "ee_rot_z_sin",
+                "ee_rot_z_cos",
+                "gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "ee_pos_x",
+                "ee_pos_y",
+                "ee_pos_z",
+                "ee_rot_x_sin",
+                "ee_rot_x_cos",
+                "ee_rot_y_sin",
+                "ee_rot_y_cos",
+                "ee_rot_z_sin",
+                "ee_rot_z_cos"
+            ]
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "o0",
+                "o1",
+                "o2",
+                "o3",
+                "o4",
+                "o5",
+                "o6",
+                "o7",
+                "o8"
+            ]
+        },
+        "observation.images.wrist_cam": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 250,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.side_cam": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 250,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.opst_cam": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 250,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_cam_events": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 250,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.opst_cam_events": {
+            "dtype": "video",
+            "shape": [
+                360,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 250,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```