---
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.