Show-Harness Data: real and simulated demonstrations

.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+rollouts.json filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- robotics
+- agent
+- embodied-ai
+- manipulation
+size_categories:
+- 10K<n<100K
+---
+
+# Show-Harness Data
+
+The demonstrations behind [Show-Harness VLMs](https://huggingface.co/showlab/ShowHarness-VLMs):
+two real embodiments (7-DoF Franka, 6-DoF AgileX) and two simulators (RoboLab, ManiSkill). One
+observation, one action unit — every unit a 2 cm translation on every rig, so the subsets mix
+without rescaling.
+
+[Code](https://github.com/showlab/Show-Harness) ·
+[Models](https://huggingface.co/showlab/ShowHarness-VLMs) ·
+[Project page](https://showlab.github.io/Show-Harness/)
+
+| split | contents | episodes | samples | images | size |
+| --- | --- | :-: | :-: | :-: | :-: |
+| [`real/`](real) | Franka (101) + AgileX (63), 17 tasks | 164 | 7,933 | 15,866 | 865 MB |
+| [`sim/`](sim) | RoboLab (130) + ManiSkill (100) | 230 | 13,753 | 27,046 | 1.5 GB |
+
+Each split is subdivided by fields in `episodes.jsonl`, not by directory. Within `sim/`,
+`rollout_000..129` are RoboLab and `rollout_130..229` are ManiSkill — but read the `simulator`
+field rather than the numbering, which is an implementation detail.
+
+## Layout
+
+```
+ShowHarness-Data/
+├── real/
+│   ├── rollouts.json          training samples
+│   ├── episodes.jsonl         one line per episode
+│   └── metadata/rollout_000/  actions.jsonl + agentview/*.png + wrist/*.png
+└── sim/                       same three pieces
+```
+
+**`rollouts.json`** — Alpaca multimodal format, one sample per action step. Image paths are
+relative to the file itself, always agentview first and wrist second, matching the two leading
+`<image>` markers. Nine units: six `MV_*` directions (`FWD` `BACK` `LEFT` `RIGHT` `UP` `DOWN`),
+`GRASP`, `RELEASE`, and the terminal `DONE`.
+
+```json
+{
+  "instruction": "<image><image>" + rendered prompt,
+  "input": "",
+  "output": "MV_DOWN",
+  "images": ["metadata/rollout_000/agentview/0000.png",
+             "metadata/rollout_000/wrist/0000.png"]
+}
+```
+
+**`episodes.jsonl`** — one line per episode, indexing by embodiment, task and environment.
+`embodiment` is `franka` (overhead exocentric) or `piper` (AgileX, first-person). Simulation
+episodes also carry `simulator`, `env_id` and the `seed` that reproduces them; ManiSkill episodes
+add `shard` and `scheme`.
+
+**`actions.jsonl`** — the per-episode capture log (action, gripper state, end-effector pose, frame
+names), useful for deriving alternative supervision targets such as continuous EE deltas. It is
+the raw capture, not the supervision target: **train on `rollouts.json`**.
+
+## Image transform
+
+Both views go through one transform — rotate/flip, centre-crop to 4:3, letterbox into 256×256 — so
+a wrist frame carries 32 black rows top and bottom on every subset, real and simulated alike. A
+policy trained on one source sees the same framing on any other.
+
+## ⚠️ Direction convention on the AgileX arm
+
+Directional units follow the Franka rig's overhead exocentric view throughout, a single convention
+shared by both embodiments. The AgileX rig observes from a first-person view that mirrors the
+forward–backward axis, so **deployment to an AgileX arm requires exchanging `MV_FWD` and
+`MV_BACK`** — otherwise the arm moves the wrong way, with no error raised. Franka and simulation
+require no conversion.
+
+## Usage
+
+To train with the pipeline in the [Show-Harness repository](https://github.com/showlab/Show-Harness):
+
+```bash
+git clone https://github.com/showlab/Show-Harness && cd Show-Harness
+
+bash train/scripts/download_dataset.sh            # fetch + register both splits
+bash train/scripts/setup_llamafactory.sh          # one-time: clone upstream, build the venv
+
+cp train/configs/qwen3_5_2b_lora.yaml train/configs/my_run.yaml   # set dataset: showharness_sim
+CONFIG=train/configs/my_run.yaml GPU=0,1 bash train/scripts/train.sh
+```
+
+`media_dir` resolves automatically from the registered path, so the relative image paths work with
+no further configuration.
+
+## Models
+
+The adapters trained on these splits are at
+[ShowHarness-VLMs](https://huggingface.co/showlab/ShowHarness-VLMs) — five real-robot policies
+from `real/` (40 epochs, one per backbone) and `qwen3_5_2b_sim` from `sim/` (30 epochs, one policy
+for both simulators).
+
+## Citation
+
+```bibtex
+@article{chen2026showharness,
+  title   = {Show-Harness: Just a VLM Agent Can Play Robots},
+  author  = {Chen, Yanzhe and Bai, Zechen and Cao, Zhijun and Zeng, Wenzheng and
+             Lin, Kevin Qinghong and Lin, Yiqi and Liang, Guoqiang and
+             Ma, Kevin Yuchen and Huang, Qiming and Shou, Mike Zheng},
+  journal = {arXiv preprint},
+  year    = {2026},
+}
+```

real/episodes.jsonl

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+{"episode": "rollout_000", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 50, "num_samples": 51}
+{"episode": "rollout_001", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 49, "num_samples": 50}
+{"episode": "rollout_002", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 56, "num_samples": 57}
+{"episode": "rollout_003", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_004", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 52, "num_samples": 53}
+{"episode": "rollout_005", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 50, "num_samples": 51}
+{"episode": "rollout_006", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 58, "num_samples": 59}
+{"episode": "rollout_007", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 57, "num_samples": 58}
+{"episode": "rollout_008", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 60, "num_samples": 61}
+{"episode": "rollout_009", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 56, "num_samples": 57}
+{"episode": "rollout_010", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 58, "num_samples": 59}
+{"episode": "rollout_011", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 62, "num_samples": 63}
+{"episode": "rollout_012", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 78, "num_samples": 79}
+{"episode": "rollout_013", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 51, "num_samples": 52}
+{"episode": "rollout_014", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 48, "num_samples": 49}
+{"episode": "rollout_015", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 46, "num_samples": 47}
+{"episode": "rollout_016", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_017", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_018", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 58, "num_samples": 59}
+{"episode": "rollout_019", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 60, "num_samples": 61}
+{"episode": "rollout_020", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 59, "num_samples": 60}
+{"episode": "rollout_021", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 57, "num_samples": 58}
+{"episode": "rollout_022", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 55, "num_samples": 56}
+{"episode": "rollout_023", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 46, "num_samples": 47}
+{"episode": "rollout_024", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 55, "num_samples": 56}
+{"episode": "rollout_025", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 49, "num_samples": 50}
+{"episode": "rollout_026", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_027", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 49, "num_samples": 50}
+{"episode": "rollout_028", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_029", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 44, "num_samples": 45}
+{"episode": "rollout_030", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 46, "num_samples": 47}
+{"episode": "rollout_031", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 58, "num_samples": 59}
+{"episode": "rollout_032", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 67, "num_samples": 68}
+{"episode": "rollout_033", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 56, "num_samples": 57}
+{"episode": "rollout_034", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 51, "num_samples": 52}
+{"episode": "rollout_035", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 42, "num_samples": 43}
+{"episode": "rollout_036", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_037", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 36, "num_samples": 37}
+{"episode": "rollout_038", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 44, "num_samples": 45}
+{"episode": "rollout_039", "embodiment": "franka", "task": "pick up the yellow cup and place it on the green coaster", "num_frames": 51, "num_samples": 52}
+{"episode": "rollout_040", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_041", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 59, "num_samples": 60}
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+{"episode": "rollout_046", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 56, "num_samples": 57}
+{"episode": "rollout_047", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_048", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 60, "num_samples": 61}
+{"episode": "rollout_049", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 49, "num_samples": 50}
+{"episode": "rollout_050", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 45, "num_samples": 46}
+{"episode": "rollout_051", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_052", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 47, "num_samples": 48}
+{"episode": "rollout_053", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_054", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 68, "num_samples": 69}
+{"episode": "rollout_055", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 58, "num_samples": 59}
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+{"episode": "rollout_057", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 52, "num_samples": 53}
+{"episode": "rollout_058", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 49, "num_samples": 50}
+{"episode": "rollout_059", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 51, "num_samples": 52}
+{"episode": "rollout_060", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 57, "num_samples": 58}
+{"episode": "rollout_061", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 1, "num_samples": 2}
+{"episode": "rollout_062", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_063", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 48, "num_samples": 49}
+{"episode": "rollout_064", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 61, "num_samples": 62}
+{"episode": "rollout_065", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 64, "num_samples": 65}
+{"episode": "rollout_066", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 62, "num_samples": 63}
+{"episode": "rollout_067", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 52, "num_samples": 53}
+{"episode": "rollout_068", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 50, "num_samples": 51}
+{"episode": "rollout_069", "embodiment": "franka", "task": "pick up the white bowl and stack it on the pink bowl", "num_frames": 52, "num_samples": 53}
+{"episode": "rollout_070", "embodiment": "franka", "task": "pick up the banana and place it on the blue plate", "num_frames": 23, "num_samples": 24}
+{"episode": "rollout_071", "embodiment": "franka", "task": "pick up the gray mug and place it on the green coaster", "num_frames": 44, "num_samples": 45}
+{"episode": "rollout_072", "embodiment": "franka", "task": "pick up the gray mug and place it on the green coaster", "num_frames": 19, "num_samples": 20}
+{"episode": "rollout_073", "embodiment": "franka", "task": "pick up the gray mug and place it on the green coaster", "num_frames": 8, "num_samples": 9}
+{"episode": "rollout_074", "embodiment": "franka", "task": "pick up the gray mug and place it on the green coaster", "num_frames": 13, "num_samples": 14}
+{"episode": "rollout_075", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 27, "num_samples": 28}
+{"episode": "rollout_076", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 29, "num_samples": 30}
+{"episode": "rollout_077", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 40, "num_samples": 41}
+{"episode": "rollout_078", "embodiment": "franka", "task": "pick up the mango and place it on the blue plate", "num_frames": 13, "num_samples": 14}
+{"episode": "rollout_079", "embodiment": "franka", "task": "pick up the pink cup and stack it on the blue cup", "num_frames": 13, "num_samples": 14}
+{"episode": "rollout_080", "embodiment": "franka", "task": "pick up the pink cup and stack it on the blue cup", "num_frames": 29, "num_samples": 30}
+{"episode": "rollout_081", "embodiment": "franka", "task": "pick up the pink cup and stack it on the blue cup", "num_frames": 24, "num_samples": 25}
+{"episode": "rollout_082", "embodiment": "franka", "task": "pick up the pink cup and stack it on the blue cup", "num_frames": 29, "num_samples": 30}
+{"episode": "rollout_083", "embodiment": "franka", "task": "pick up the mango and place it in the bowl", "num_frames": 64, "num_samples": 65}
+{"episode": "rollout_084", "embodiment": "franka", "task": "pick up the mango and place it in the bowl", "num_frames": 58, "num_samples": 59}
+{"episode": "rollout_085", "embodiment": "franka", "task": "pick up the orange block and place it on the plate", "num_frames": 70, "num_samples": 71}
+{"episode": "rollout_086", "embodiment": "franka", "task": "pick up the orange block and place it on the plate", "num_frames": 30, "num_samples": 31}
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+{"episode": "rollout_089", "embodiment": "franka", "task": "pick up the pink cube and place it on the plate", "num_frames": 54, "num_samples": 55}
+{"episode": "rollout_090", "embodiment": "franka", "task": "pick up the pink cube and place it on the plate", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_091", "embodiment": "franka", "task": "pick up the pink cube and place it on the plate", "num_frames": 72, "num_samples": 73}
+{"episode": "rollout_092", "embodiment": "franka", "task": "pick up the pink cube and place it on the plate", "num_frames": 46, "num_samples": 47}
+{"episode": "rollout_093", "embodiment": "franka", "task": "pick up the pink cube and place it on the plate", "num_frames": 65, "num_samples": 66}
+{"episode": "rollout_094", "embodiment": "franka", "task": "pick up the pink cube and place it on the plate", "num_frames": 37, "num_samples": 38}
+{"episode": "rollout_095", "embodiment": "franka", "task": "rearrange the letters to spell \"SHOW\"", "num_frames": 53, "num_samples": 54}
+{"episode": "rollout_096", "embodiment": "franka", "task": "rearrange the letters to spell \"SHOW\"", "num_frames": 45, "num_samples": 46}
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real/metadata/rollout_000/actions.jsonl

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