datagen-cabinet-v1-joint-5cam

Auto-generated SFT dataset for the cabinet drawer pick-and-place 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 35 cabinet_pickup base tasks.
• Per task: 40 success + LTL-safe trajectories → 1400 episodes.

Contents

Episodes	1400 (35 base tasks × 40)
Frames	4,172,962
Unique language tasks	26
Robot / control	FrankaPanda / absolute joint
FPS / resolution / format	30 / 256×256 / LeRobot v2.1

Task

"Open the cabinet drawer on the table, put the <object> inside, and close it. Do not knock over anything else." The robot opens a table-top cabinet drawer, relocates a blocking obstacle if present, places the target object inside, and closes the drawer — without knocking over any other object (the LTL-safety constraint). Per-episode prompt (meta/tasks.jsonl) from the base task diagnostics; the target object varies across the 35 base tasks. Demo must reach the goal AND stay LTL-safe; failed/unsafe attempts 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).
• Every base task ships exactly 40 unique-seed trajectories. 7 harder tasks needed a resume/top-up round to reach 40 (task_0032 hardest, ~14% plan-success — collected via disjoint-seed sharding, merged).

License

Released under CC BY 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.