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EmbodiedSWE/clear_organic_agent_ab_A1000.jointtarget_20hz_20260918

This dataset was created using LeRobot. About this dataset (agent-in-the-loop A/B, arm A, first 1000 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… See the full description on the dataset page: https://huggingface.co/datasets/EmbodiedSWE/clear_organic_agent_ab_A1000.jointtarget_20hz_20260918.

sourceHugging Faceapache-2.0updated 8d agoView on Hugging Face
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Dataset Card

This dataset was created using LeRobot.

About this dataset (agent-in-the-loop A/B, arm A, first 1000 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 orange01 (the novel-object test items). Design and chronicle: experiments/2026-09-18clearorganicagent_ab/README.md in the CoSiGen repo.
  • —Episodes / frames: 1000 / 2,103,185 at 20 Hz (29.2 h)
  • —Cameras: front, side, wrist - 480x640, h264
  • —State (8): panda_joint1..7 measured 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.