| { |
| "dataset_name": "MiniVLA-Nav v1", |
| "dataset_version": "v1.0", |
| "created_utc": "2026-04-22T22:32:04.197860+00:00", |
| "isaac_sim_version": "5.1.0-rc.19+release.26219.9c81211b.gl", |
| "generator": { |
| "script": "dataset_generation/generate_dataset_v1.py", |
| "seed": 42, |
| "max_steps": 1000, |
| "success_radius_m": 1.0, |
| "git_commit": "834fb9eb907bbbd2ff3730f8158ed5ec203ea6fb" |
| }, |
| "scenes": [ |
| { |
| "scene_rel": "Isaac/Environments/Office/office.usd", |
| "episodes_budget": 700, |
| "seen_categories": [ |
| "chair", |
| "sofa", |
| "table", |
| "monitor", |
| "plant", |
| "trash_can" |
| ], |
| "heldout_categories": [ |
| "fire_extinguisher", |
| "whiteboard" |
| ] |
| }, |
| { |
| "scene_rel": "Isaac/Environments/Hospital/hospital.usd", |
| "episodes_budget": 500, |
| "seen_categories": [ |
| "chair", |
| "trash_can" |
| ], |
| "heldout_categories": [ |
| "fire_extinguisher", |
| "whiteboard" |
| ] |
| }, |
| { |
| "scene_rel": "Isaac/Environments/Simple_Warehouse/full_warehouse.usd", |
| "episodes_budget": 500, |
| "seen_categories": [ |
| "shelf", |
| "rack" |
| ], |
| "heldout_categories": [ |
| "barrel" |
| ] |
| }, |
| { |
| "scene_rel": "Isaac/Environments/Simple_Warehouse/warehouse_multiple_shelves.usd", |
| "episodes_budget": 300, |
| "seen_categories": [ |
| "shelf", |
| "rack" |
| ], |
| "heldout_categories": [ |
| "barrel" |
| ] |
| } |
| ], |
| "robot_rel": "Isaac/Robots/NVIDIA/NovaCarter/nova_carter.usd", |
| "robot_prim_path": "/World/nova_carter", |
| "physics_dt": 0.016666666666666666, |
| "camera": { |
| "relative_path": "chassis_link/sensors/front_hawk/right/camera_right", |
| "resolution": [ |
| 640, |
| 640 |
| ] |
| }, |
| "action_space": { |
| "continuous": { |
| "v_bounds": [ |
| 0.0, |
| 1.0 |
| ], |
| "w_bounds": [ |
| -1.5, |
| 1.5 |
| ] |
| }, |
| "tokens": { |
| "v_bins": 7, |
| "w_bins": 7 |
| } |
| }, |
| "spawn_tiers": { |
| "near": { |
| "weight": 0.3, |
| "radius_m": [ |
| 1.5, |
| 3.5 |
| ] |
| }, |
| "mid": { |
| "weight": 0.4, |
| "radius_m": [ |
| 3.5, |
| 7.0 |
| ] |
| }, |
| "far": { |
| "weight": 0.3, |
| "source": "global_spawn_points" |
| } |
| }, |
| "split_stats": { |
| "train_id": { |
| "episodes": 261, |
| "mean_ne_m": 0.9670666755387609, |
| "mean_tl_m": 2.7529947248455207, |
| "mean_steps": 197.60536398467434 |
| }, |
| "test_id": { |
| "episodes": 50, |
| "mean_ne_m": 0.9659816563129425, |
| "mean_tl_m": 2.7448459219932557, |
| "mean_steps": 190.58 |
| }, |
| "test_ood_obj": { |
| "episodes": 37, |
| "mean_ne_m": 0.9673925509323945, |
| "mean_tl_m": 2.3782254231942668, |
| "mean_steps": 174.67567567567568 |
| }, |
| "test_ood_lang": { |
| "episodes": 36, |
| "mean_ne_m": 0.9674341032902399, |
| "mean_tl_m": 3.0674608051776886, |
| "mean_steps": 229.72222222222223 |
| }, |
| "val_id": { |
| "episodes": 41, |
| "mean_ne_m": 0.966843035162949, |
| "mean_tl_m": 2.82883511083882, |
| "mean_steps": 205.6341463414634 |
| } |
| }, |
| "scene_stats": { |
| "office": { |
| "episodes": 281, |
| "mean_ne_m": 0.966285331393476, |
| "mean_tl_m": 2.6612635874239152, |
| "mean_steps": 190.77580071174378, |
| "mean_spawn_dist_m": 3.5738716951122362, |
| "spawn_tier_counts": { |
| "near": 160, |
| "mid": 121, |
| "far": 0 |
| } |
| }, |
| "hospital": { |
| "episodes": 22, |
| "mean_ne_m": 0.9657834957946431, |
| "mean_tl_m": 2.811381819573316, |
| "mean_steps": 189.5909090909091, |
| "mean_spawn_dist_m": 3.7342918687426945, |
| "spawn_tier_counts": { |
| "near": 13, |
| "mid": 8, |
| "far": 1 |
| } |
| }, |
| "full_warehouse": { |
| "episodes": 54, |
| "mean_ne_m": 0.9739701008355176, |
| "mean_tl_m": 2.7093094918462963, |
| "mean_steps": 221.7962962962963, |
| "mean_spawn_dist_m": 3.42820259046396, |
| "spawn_tier_counts": { |
| "near": 31, |
| "mid": 21, |
| "far": 2 |
| } |
| }, |
| "warehouse_multiple_shelves": { |
| "episodes": 68, |
| "mean_ne_m": 0.9646676647312501, |
| "mean_tl_m": 3.1501604090718662, |
| "mean_steps": 213.41176470588235, |
| "mean_spawn_dist_m": 4.035206363941604, |
| "spawn_tier_counts": { |
| "near": 32, |
| "mid": 35, |
| "far": 1 |
| } |
| } |
| } |
| } |
