IDEAS-Lab-Northwestern/datagen-jar-v1-joint-5cam

datagen-jar-v1-joint-5cam

Auto-generated SFT dataset for the jar_transport family (close an articulated hinged jar's lid, then side-grasp the closed jar and carry it to a goal region) — cuRobo-planned, physics- & LTL-safety-checked demos, converted to LeRobot v2.1.

• —Creator: yypeng666 (IDEAS-Lab-Northwestern)
• —Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — all 26 jar_transport base tasks.
• —Per task: 40 success + LTL-safe trajectories → 1040 episodes.

Contents

Task

The robot closes an articulated hinged jar's lid — one straight "lid-ride" push of the open gripper under the flopped lid, lifting it past its tipping point so gravity seats it shut — then side-grasps the closed jar and transports it into the green goal sphere. Per-episode prompt (meta/tasks.jsonl) from the base task diagnostics. A demo must reach the goal AND stay LTL-safe throughout (jar upright, not dropped, on its support until closed); failed / unsafe attempts are dropped.

Schema

state(8)=[arm_q(7),gripper(1)]; actions(8)=[arm_q[t+1](7),gripper_cmd(1)] next-achieved (default SFT target); actions_commanded(8)=[curobo_target_q(7),gripper_cmd(1)] (cuRobo command, extra). Absolute joint (delta at train time). Cameras (all 5 kept, pick subset at train time): image_opposite,image_left,image_right,image_left_shoulder (third-person) + wrist_image.

Notes

• —Camera subset + arm-joint delta are TRAIN-time choices; all 5 streams + absolute joints ship here.
• —MimicGen sim-state replay dump is NOT included (kept in the raw archive; not needed for SFT).

License

Released under CC BY-NC 4.0 (see `LICENSE`). The generated artifacts — joint state/action trajectories, rendered demonstration videos, and language prompts — are © 2026 IDEAS Lab, Northwestern University.

The underlying scene and object assets shown in the rendered videos come from BEHAVIOR-1K and remain subject to its license; this dataset does not redistribute them as assets.

Paper & Citation

Part of ManiGuard: paper (arXiv:2608.17386) · code · docs

@misc{peng2026maniguard,
  title         = {{MANIGUARD}: A Benchmark and Data Suite for Specification-Grounded
                   Safety Evaluation and Improvement of Robotic Manipulation},
  author        = {Peng, Yiyan and Wang, Philip and Zhan, Simon Sinong and Lyu, Yiqi
                   and Ni, Zhenyang and Yan, Jixin and Wong, Fiorelli and Jiao, Ruochen
                   and Yin, Hang and Cao, Xinyu and Shao, Huajie and Li, Manling
                   and Zhang, Ruohan and Zhu, Qi},
  year          = {2026},
  eprint        = {2608.17386},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2608.17386},
}