EmbodiedSWE/clear_organic_agent_ab_B400.jointtarget_20hz_20260918

This dataset was created using LeRobot.

About this dataset (agent-in-the-loop A/B, arm B, 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 B: AGENT in the loop: cells authored by data-engine diversify sessions at the strategy and phase levels (new ways of doing the task, mid-task entry states, recovery demonstrations); the same 5 training organics, no scripted noise. 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 / 812,282 at 20 Hz (11.3 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.