400 episodes · 20 fps · 3 cameras · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
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"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 5,
"video.crf": 23,
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}
},
"observation.images.side": {
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480,
640,
3
],
"names": [
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}
},
"observation.images.wrist": {
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640,
3
],
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}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"panda_joint1",
"panda_joint2",
"panda_joint3",
"panda_joint4",
"panda_joint5",
"panda_joint6",
"panda_joint7",
"gripper"
]
},
"action": {
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"shape": [
8
],
"names": [
"panda_joint1_target",
"panda_joint2_target",
"panda_joint3_target",
"panda_joint4_target",
"panda_joint5_target",
"panda_joint6_target",
"panda_joint7_target",
"gripper"
]
},
"raw_command": {
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9
],
"names": [
"cmd_0",
"cmd_1",
"cmd_2",
"cmd_3",
"cmd_4",
"cmd_5",
"cmd_6",
"cmd_7",
"cmd_8"
]
},
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},
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},
"total_episodes": 400,
"total_frames": 849244,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 42,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "packing.clear_organic_objects.franka.joint",
"splits": {
"train": "0:400"
}
}
Citation
BibTeX:
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About this dataset (agent-in-the-loop A/B, arm A, first 400 verified successes)
Simulated Franka Panda demonstrations of a produce-clearing task (pick every organic item - lemons, a lime, an orange, a small pumpkin - off a cluttered packing table and drop it into the crate, leaving the distractors), generated in Isaac Sim by the CoSiGen data-generation pipeline. Every episode is a certified success of the task grader (all present organics in the crate, no distractor in it). Grasps are real friction pinches (no weld).
- A/B arm A: NO agent: the delivered oracle re-run with scripted executed-action noise (gaussian 0.02 rad on the 7 arm targets, 0.4 s bursts at p=0.03 per 20 Hz step, only while the hand is above 0.85 m, i.e. transport phases) plus per-episode produce friction (0.90-1.30 / 0.80-1.10) and organic mass (x0.7-1.3) draws. Labels are the clean commands; the noise is executed below the recorder. Held out from every training scene: pomegranate01 and orange_01 (the novel-object test items). Design and chronicle: experiments/2026-09-18_clear_organic_agent_ab/README.md in the CoSiGen repo.
- Episodes / frames: 400 / 849,244 at 20 Hz (11.8 h)
- Cameras:
front,side,wrist- 480x640, h264 - State (8):
panda_joint1..7measured positions (rad) + gripper closedness in [0, 1] (0 = open) - Action (8): ABSOLUTE
panda_joint1..7_target(rad) latched at 20 Hz + commanded gripper closedness. - Control law: stationary - the scene's stock Franka joint PD (kp 400 / kd 80) and gripper drives; deploy through
the plain 20 Hz joint-target executor (
meta/bake.json->controller). - Layout randomization: organic subset 4-5 of 5, in-group slot shuffle, +-2.5 cm jitter, free yaw; Halton draws with the solve index offset by 4093 from the physical index (independent friction and expert-parameter draws).
- Idle filter: stationary ticks dropped at bake time (0).
- Extra column:
raw_command(9) - the raw controller command vector, not a policy input.
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