dynamic_robot_bench_dr4050_scripted_5k

The fast-band (0.40–0.50 m/s) companion to dynamic_robot_bench_dr_scripted_10k. Scripted-expert demonstrations on a moving conveyor belt, collected with every domain-randomization knob on, across 100 task families.

episodes	5000 (50 per family)
frames	327,466
fps	20
distinct instructions	387
belt speed	uniform over 0.40–0.50 m/s
cameras	exterior_image_1_left, exterior_image_2_left, wrist_image_left (224x224)
action	8-dim (joint position + gripper)
LeRobot format	v2.1

Why this set exists

It is the band specialist's training set. A policy trained on the full 0.10–0.50 m/s band and one trained only on 0.40–0.50 m/s were compared in-band; the specialist won at half the optimizer steps. This is the data behind that second arm. The two sets are disjoint collections, not a split of one.

Provenance

meta/ranges.json maps every family to its episode range, so a family can be recovered from the merged corpus without re-collection. These sources predate the per-run collection stamp, so ranges.json's collection field is empty here — the 14k corpus is the first merged set that carries it.

Merged with scripts/merge_lerobot_datasets.py from 100 per-family datasets. episode_index, index and task_index are renumbered globally and meta/episodes_stats.jsonl carries the statistics of the renumbered columns.

Object assets and attribution

Objects come from Google Scanned Objects (CC-BY 4.0), the YCB Object and Model Set (CC-BY 4.0), and procedural SAPIEN primitives built in the benchmark repository (MIT). Redistribution here is under CC-BY 4.0; please credit the original asset sources when you use the renders.

Per-family episode ranges

family	episodes	range	frames
apple	50	0–49	2798
axle_seat	50	50–99	2666
ball_cradle	50	100–149	2914
belt_corner	50	150–199	4911
belt_load	50	200–249	5115
belt_swap	50	250–299	4726
cake_top	50	300–349	2714
cap_press	50	350–399	2692
cap_swipe	50	400–449	2815
cart_couple	50	450–499	3042
carton_close	50	500–549	2789
case_stack	50	550–599	5999
category_sort	50	600–649	4844
clear_arch	50	650–699	2017
clip_card	50	700–749	1843
clock_hand	50	750–799	2151
color_bin_sort	50	800–849	4912
color_press	50	850–899	2160
count_press	50	900–949	1897
cube_stack	50	950–999	2627
cull_flawed	50	1000–1049	3512
decant	50	1050–1099	7261
depth_band	50	1100–1149	2337
destack	50	1150–1199	2531
drawer_close	50	1200–1249	2259
drawer_open	50	1250–1299	2952
dual_pin	50	1300–1349	2793
edge_flush	50	1350–1399	3116
edge_recenter	50	1400–1449	4040
even_load	50	1450–1499	2917
face_up	50	1500–1549	6487
flag_hold	50	1550–1599	2596
flap_post	50	1600–1649	2120
flask_stand	50	1650–1699	2764
flip_lid	50	1700–1749	2748
flush_fit	50	1750–1799	2591
free_lane	50	1800–1849	1820
fruit_drop	50	1850–1899	2442
funnel_seat	50	1900–1949	1749
gap_thread	50	1950–1999	1726
handle_grasp	50	2000–2049	2932
hex_socket	50	2050–2099	2118
hook_drag	50	2100–2149	3078
hook_rail	50	2150–2199	2681
key_slot	50	2200–2249	2537
kit_fill	50	2250–2299	2253
latch_bar	50	2300–2349	2360
level_press	50	2350–2399	2559
lid_cover	50	2400–2449	2457
line_feed	50	2450–2499	2405
match_angle	50	2500–2549	1748
meter_insert	50	2550–2599	1307
named_pick	50	2600–2649	2978
order_pick	50	2650–2699	3038
orient_place	50	2700–2749	2730
over_barrier	50	2750–2799	6938
pallet_corner	50	2800–2849	2807
patch_cover	50	2850–2899	2677
peg_insert	50	2900–2949	1136
peg_pull	50	2950–2999	2649
pick_place	50	3000–3049	4719
pin_fixture	50	3050–3099	7378
pin_release	50	3100–3149	2689
pocket_shove	50	3150–3199	2742
press_button	50	3200–3249	2051
pull_cord	50	3250–3299	2535
rail_balance	50	3300–3349	2799
ramp_roll	50	3350–3399	1918
reach	50	3400–3449	1883
read_present	50	3450–3499	6944
rel_place	50	3500–3549	2462
ring_hang	50	3550–3599	2554
rocker_toggle	50	3600–3649	2215
row_gap	50	3650–3699	8893
scan_aim	50	3700–3749	1903
scissor_squeeze	50	3750–3799	2199
scoop_ball	50	3800–3849	3358
selector_set	50	3850–3899	2474
seq_press	50	3900–3949	1830
shape_sort	50	3950–3999	2185
shelf_place	50	4000–4049	7051
shoe_mat	50	4050–4099	2271
side_insert	50	4100–4149	2020
side_label	50	4150–4199	1936
size_stack	50	4200–4249	6641
soft_set	50	4250–4299	2655
spout_cup	50	4300–4349	8431
spring_hold	50	4350–4399	2240
stamp_seal	50	4400–4449	1526
tare_load	50	4450–4499	7863
thread_loop	50	4500–4549	1577
tilt_socket	50	4550–4599	1329
timed_chute	50	4600–4649	7075
topple	50	4650–4699	2527
tote_unload	50	4700–4749	2687
tray_lift	50	4750–4799	3665
tray_to_bin	50	4800–4849	2825
turn_to_face	50	4850–4899	7863
uncover	50	4900–4949	2632
upright_bottle	50	4950–4999	7140