datagen-stack-v1-joint-5cam

Auto-generated SFT dataset for the stack_retrieve family — 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 28 stack_retrieve base tasks.
• Per task: 40 success + LTL-safe trajectories → 1120 episodes.

Contents

Episodes	1120 (28 base tasks × 40)
Frames	2,652,083
Unique language tasks	8
Robot / control	FrankaPanda / absolute joint
FPS / resolution / format	30 / 256×256 / LeRobot v2.1

Task

stack_retrieve: three identical objects sit stacked on top of a target object on a surface. The robot unstacks the three top objects one at a time onto a single re-stack pile beside the source (lift to a fixed safe transfer height → translate → descend → grasp → lift → carry to the dest pile → place), exposing the bottom target, then retrieves that target (kept in gripper) into the goal region. Per-episode prompt (meta/tasks.jsonl) from the base task diagnostics. A demo must reach the goal AND stay LTL-safe (no re-stacked object dropped or toppled, target kept upright); 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).