EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "fps": 20, "features": { "observation.images.front": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height":… See the full description on the dataset page: https://huggingface.co/datasets/EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=CoSiGen/clearorganicagentabA400.jointtarget20hz_20260918"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
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"fps": 20,
"features": {
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},
"observation.state": {
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"names": [
"panda_joint1",
"panda_joint2",
"panda_joint3",
"panda_joint4",
"panda_joint5",
"panda_joint6",
"panda_joint7",
"gripper"
]
},
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"panda_joint4_target",
"panda_joint5_target",
"panda_joint6_target",
"panda_joint7_target",
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"total_episodes": 400,
"total_frames": 849244,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"robot_type": "packing.clear_organic_objects.franka.joint",
"splits": {
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}
}Citation
BibTeX:
[More Information Needed]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 orange01 (the novel-object test items). Design and chronicle: experiments/2026-09-18clearorganicagent_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.