数据集

# Dataset for Piper Curated 3D single-arm Piper manipulation datasets for the ContactShift research line. The repository keeps paper-facing releases separate from historical material. ## Mainline Releases | Task | Frozen data | Purpose | | --- | ---: | --- | | `move_pillbottle_pad` | 266 curated raw train; 314 processed train; 21 validation | Pick, transport, stable release under mass/COM/contact shift | | `push_mango_to_target_without_rollover` | 204 train; 26 validation; audited held-out splits | Contact-sensitive pushing of an asymmetric fruit without rollover | | `stack_food_container_lid` | 200 train; 34 validation; 80 episodes in each held-out test split | Support-guided stacking, seating, and stable release | | `fold_hand_towel_half` | 240 train; 40 validation; 80 episodes in each held-out test split | Tactile-aware half-folding of deformable cloth under visual and hidden-physics shift | Each release lives at: ```text contact_shift_mainline/<task>/ README.md data/ code/ checkpoints/ reports/ review_media/ ``` Optional `docs/` and `manifests/` directories contain frozen specifications and split schedules. Task READMEs are authoritative for exact release semantics. ## Archive `archive/legacy_drawer_pull_out_physshift/` contains a historical drawer task. It is retained for reconstruction and comparison, but is not a paper-grade mainline release. ## Repository Rules - only release-ready tasks belong under `contact_shift_mainline/`; - failed, smoke, sanity, cache, and probe artifacts are not published; - one task has one stable root; old release batches are not copied beside it; - released checkpoints keep the selected policy, normalization statistics, reproducible config, and verifiable provenance, not mismatched logs or redundant epoch/last snapshots; - controlled oversampling documented by a task is dataset semantics, not a storage duplicate to remove; - uploads use explicit no-proxy sync and are verified against the remote tree. See `REPOSITORY_INDEX.json` for the machine-readable task index. _Repository tree cleaned and indexed on 2026-07-17._