datagen clutter v1 joint 5cam Auto generated SFT dataset for the clutter (pick out of clutter → place in goal) family — a cuRobo planned, physics & LTL safety checked demonstration set, already converted to LeRobot v2.1 . Creator: yypeng666 (IDEAS Lab Northwestern) Source bench: IDEAS Lab Northwestern/ManiGuard Bench — collected on all 55 clutter pickup base tasks . Per task: 40 success + LTL safe trajectories → 2,200 episodes total. Contents Episodes 2,200 (55 base tasks × 40) Frames 901,520 Unique language tasks 42 (base tasks with the same object+surface+goal share a prompt) Robot FrankaPanda (7 DoF arm + gripper) Control absolute joint FPS / resolution 30 / 256×256 Format LeRobot v2.1 Task Pick the target object out of a cluttered tabletop and move it into the green goal sphere. Per episode language prompt ( meta/tasks.jsonl ) is sourced from the base task's diagnostics, e.g. "Pick up the teacup on the desk, then move it into the green goal sphere …" . Each demo must reach the goal AND stay LTL safe (nothing toppled); failed/unsafe attempts are dropped. Schema State / actions (absolute joint; convert arm joints to per step delta at train time): key dim meaning state 8 [arm q(7)…
We use cookies for essential functionality and analytics. You can accept or reject analytics cookies.Cookie policy