| --- |
| license: other |
| task_categories: |
| - robotics |
| - other |
| language: |
| - en |
| tags: |
| - embodied-ai |
| - tracking |
| - dagger |
| - habitat |
| pretty_name: OpenTrackVLA DAgger Recovery Dataset |
| --- |
| |
| # OpenTrackVLA DAgger Recovery Dataset |
|
|
| Training-only DAgger recovery data generated in Habitat for OpenTrackVLA target |
| tracking. This release contains V6-policy failure recovery data for AT, DT, and |
| STT, using seeds 101 and 102. |
|
|
| The uploaded payload contains only the final training-ready datasets: |
|
|
| - JSONL trajectory labels; |
| - referenced RGB frames; |
| - precomputed DINOv3 + SigLIP fine/coarse visual-token caches; |
| - conversion, filtering, and integrity metadata. |
|
|
| Source rollouts, raw recovery videos, evaluation-scene data, model checkpoints, |
| and EVT-Bench results are not included. |
|
|
| ## Layout |
|
|
| ```text |
| packed/v6_failures/train/<task>/seed_<seed>/ |
| jsonl.tar.zst.part-0000... |
| frames.tar.zst.part-0000... |
| vision_cache.tar.zst.part-0000... |
| metadata/v6_failures/train/<task>/seed_<seed>/ |
| dataset_stats.json |
| dataset_inspection.json |
| dagger_selection_plan.json |
| referenced_frames.txt |
| *.manifest.json |
| ``` |
|
|
| Each component is a Zstandard-compressed tar stream split into numbered parts. |
| Reconstruct one component with: |
|
|
| ```bash |
| cat <component>.tar.zst.part-* | tar --zstd -xf - -C /path/to/dataset |
| ``` |
|
|
| Every component manifest records the ordered part names, byte sizes, and SHA256 |
| checksums. Verify all parts before extraction. |
|
|
| ## Data policy |
|
|
| This dataset is derived from simulated Habitat/HM3D tracking episodes. Users are |
| responsible for complying with the licenses and terms of the upstream scene, |
| avatar, simulator, and model assets. The `other` license marker is intentional: |
| it does not replace those upstream terms. |
|
|
| ## Generation |
|
|
| - Split: training scenes and training avatars only |
| - Tasks: AT, DT, STT |
| - Seeds: 101, 102 |
| - History: 31 frames |
| - Prediction horizon: 8 waypoints |
| - DAgger target fraction: 0.25 |
| - Failure window: 12 steps |
| - Intervention pre/post windows: 12/8 steps |
| - Maximum retained samples per episode: 26 |
|
|
| Deterministic Habitat native-process crashes are explicitly audited and excluded; |
| they are never converted into synthetic success/failure labels. |
|
|
|
|
