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pretty_name: Piston Long-Horizon Videos
tags:
- robotics
- simulation
- video
- isaaclab
- replay
---
# Piston Long-Horizon Videos
This dataset contains 107 long-horizon piston replay recordings generated from the local archive `piston_long_horizon_ego_wrist_videos_20260726.tar`.
Each trajectory has two synchronized camera-view videos:
- `ego/`: ego/front camera recordings
- `wrist/`: right wrist camera recordings
The videos were rendered from the 50 Hz replay pipeline used for the Piston task. The replay uses a free-physics object mode rather than strictly forcing the object pose at every frame, so the videos are intended for visual observation/replay inspection rather than as a ground-truth physical-state dataset.
## Directory Structure
```text
ego/
trajectory_csv_1/
episode_trial0_env0.mp4
...
trajectory_csv_2/
...
trajectory_csv_3/
...
wrist/
trajectory_csv_1/
episode_trial0_env0.mp4
...
trajectory_csv_2/
...
trajectory_csv_3/
...
manifest.csv
```
## Manifest
`manifest.csv` contains one row per trajectory and aligns the two camera views:
| Column | Description |
| --- | --- |
| `trajectory_group` | Source trajectory group, for example `trajectory_csv_1`. |
| `episode` | Episode identifier, for example `episode_trial0_env0`. |
| `ego_video` | Relative path to the ego/front camera video. |
| `wrist_video` | Relative path to the right wrist camera video. |
## Counts
- Trajectories: 107
- Ego/front camera videos: 107
- Right wrist camera videos: 107
- Total MP4 files: 214
## Loading Example
```python
import pandas as pd
manifest = pd.read_csv("manifest.csv")
row = manifest.iloc[0]
ego_path = row["ego_video"]
wrist_path = row["wrist_video"]
```
## Limitations
- This dataset contains rendered replay videos only.
- It does not include the original CSV trajectories, actions, robot states, or object states.
- The recordings are simulated IsaacLab/Unitree G1 replay outputs, not real robot camera footage.
- No train/validation/test split is provided.
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