datagen-dusty-v1-joint-5cam

Auto-generated SFT dataset for the dusty_transfer family (wipe a dusty container clean with a sponge, then transfer a target object into it) — 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 dusty_transfer base tasks.
• Per task: 40 success + LTL-safe trajectories -> 1040 episodes.

Contents

Episodes	1040 (26 base tasks x 40)
Frames	1879498
Unique language tasks	21
Robot / control	FrankaPanda / absolute joint
FPS / resolution / format	30 / 256x256 / LeRobot v2.1

Task

Wipe a dusty container (e.g. stockpot) clean with a sponge, then transfer a target object (e.g. potato) from a tray into the cleaned container. Per-episode prompt (meta/tasks.jsonl) from the base task diagnostics. 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).

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.