Tower-SimData

Tower-SimData is a simulated demonstration dataset for research on bimanual Jenga manipulation. Each episode is stored as an independent HDF5 file containing bimanual robot states and commands, end-effector poses, four JPEG camera streams, and simulation task states.

Dataset repository: https://huggingface.co/datasets/tower-benchmark/TOWER-SimData

Dataset Size

Task	Name	Public folder	Episodes	Frames	Size
Task1-2	Tower Transfer, 2 layers	task1-2_tower_transfer_2	56	196,031	45.99 GiB
Task1-3	Tower Transfer, 3 layers	task1-3_tower_transfer_3	55	294,441	67.08 GiB
Task2-2	Cross Tower Transfer, 2 layers	task2-2_cross_tower_transfer_2	55	100,086	22.26 GiB
Task2-3	Cross Tower Transfer, 3 layers	task2-3_cross_tower_transfer_3	55	155,176	35.19 GiB
Task3-2	Vertical Stacking, 2 layers	task3-2_vertical_stacking_2	55	97,124	22.19 GiB
Task3-3	Vertical Stacking, 3 layers	task3-3_vertical_stacking_3	55	140,900	32.55 GiB
Total			331	983,758	225.27 GiB

The public release does not define an official training or test split. All 331 episodes are released together. Users should create and document splits that match their experimental protocol.

Repository Layout

data/
├── task1-2_tower_transfer_2/
├── task1-3_tower_transfer_3/
├── task2-2_cross_tower_transfer_2/
├── task2-3_cross_tower_transfer_3/
├── task3-2_vertical_stacking_2/
└── task3-3_vertical_stacking_3/
previews/
MANIFEST.jsonl
CHECKSUMS.sha256
schema/tower_simdata_hdf5.json

MANIFEST.jsonl records the relative path, frame count, file size, SHA256 digest, collection date, and schema variant of every episode. CHECKSUMS.sha256 can be used to verify download integrity.

Task Definitions and Naming

N denotes the task index. L and X denote the number of layers in the block structure. Public folders follow taskN-L_task_name; for example, task1-2_tower_transfer_2 contains the two-layer variant of Task1.

Task	Task name	Folder naming pattern
Task1	Tower Transfer	task1-X_tower_transfer_X
Task2	Cross Tower Transfer	task2-X_cross_tower_transfer_X
Task3	Vertical Stacking	task3-X_vertical_stacking_X

Core HDF5 Fields

Field	Shape	Description
observations/qpos	[T,16]	Recorded bimanual state: seven arm joints and one gripper value per arm
leader/qpos	[T,16]	Absolute bimanual control commands: seven arm joints and one gripper value per arm
observations/gripper_status	[T,8]	Extended gripper state, four values per gripper
observations/eef	[T,14]	Bimanual end-effector poses as xyz + quaternion(xyzw)
leader/eef	[T,14]	Command-side end-effector poses
observations/lifter/position_mm	[T,2]	Left and back lifter position readings
observations/lifter/physical_height_mm	[T,2]	Physical heights of the left and back lifters
observations/lifter/is_moving	[T,2]	Whether each lifter is moving
observations/lifter/valid	[T,2]	Whether each lifter observation is valid
lifter/action_mm	[T,2]	Absolute commands for the left and back lifters
lifter/active_target_mm	[T,2]	Active target of each lifter
lifter/command_delta_mm	[T,2]	Difference between consecutive lifter commands
observations/images/*	[T]	Four variable-length JPEG camera streams
sim/time	[T]	Strictly increasing simulation time
sim/action_valid	[T]	Action-valid flag; the final row is false
sim/terminal	[T]	Episode termination flag
sim/success	[T]	Task success state

The fixed arm order is left, back. The four cameras are left_back_camera, right_front_camera, left_wrist_camera, and back_wrist_camera. The source sampling rate is 30 FPS.

All tasks use the unified tower_simdata_hdf5 schema. The 37 required fields and optional fields are defined in schema/tower_simdata_hdf5.json. keyframes is an optional general-purpose field. Task2 and Task3 episodes may additionally contain the sim/finger_pad_centers_m contact-point field.

18-Dimensional Action Convention

The public HDF5 files store the 18-dimensional action in two synchronized fields instead of duplicating it as an additional action[T,18] dataset:

action[18] = concat(
  leader/qpos[16],
  lifter/action_mm[2]
)

leader/qpos[16] = [
  left_J1 ... left_J7, left_gripper,
  back_J1 ... back_J7, back_gripper
]

lifter/action_mm[2] = [left_lifter, back_lifter]

J1–J7 are measured in radians, gripper values are continuous absolute opening commands, and lifter commands are measured in millimeters. These quantities must be concatenated in the order above and must not be interpreted as sharing one physical unit.

Camera Previews

Each preview uses one representative episode. The first row shows the initial frame and the second row shows the final frame. Within each row, the four camera views are shown in a fixed order.

Task1-2 · task1-2_tower_transfer_2

Task1-3 · task1-3_tower_transfer_3

Task2-2 · task2-2_cross_tower_transfer_2

Task2-3 · task2-3_cross_tower_transfer_3

Task3-2 · task3-2_vertical_stacking_2

Task3-3 · task3-3_vertical_stacking_3

Reading and Verification

pip install h5py

python - <<'PY'
import h5py

with h5py.File("data/task1-3_tower_transfer_3/episode_xxx.hdf5", "r") as episode:
    print(episode["observations/qpos"].shape)
    print(list(episode["observations/images"]))
PY

sha256sum --check CHECKSUMS.sha256

The dataset preserves the original 30 FPS timeline. No model-specific action transformation or normalization has been applied.

License and Citation

Tower-SimData is released under the Creative Commons Attribution 4.0 International License. If you use this dataset, please cite the metadata in CITATION.cff.