README.md

metadata

size_categories:
  - 1K<n<10K

Dataset Description

This is a fully annotated, synthetically generated dataset consisting of 1,000 demonstrations of a single Franka Panda robot arm performing a fixed-order three-cube stacking task in Isaac Lab. The robot consistently stacks cubes in the order: blue (bottom) → red (middle) → green (top).

The dataset was produced using the following pipeline:

• Collected 10 human teleoperation demonstrations of the stacking task.
• Used Isaac Lab’s Mimic tool to simulate 1,000 high-quality trajectories in Isaac Sim.
• Applied Cosmos Transfer1 model to augment the RGB visuals from the table camera with photorealistic domain adaptation.

Each demonstration includes synchronized multimodal data:

• RGB videos from both a table-mounted and wrist-mounted camera.
• Depth, segmentation, and surface normal maps from the table camera.
• Full low-level robot and object states (joints, end-effector, gripper, cube poses).
• Action sequences executed by the robot.

This dataset is ideal for behavior cloning, policy learning, and generalist robotic manipulation research.

Intended Usage

This dataset is intended for:

• Training robot manipulation policies using behavior cloning.
• Research in generalist robotics and task-conditioned agents.
• Sim-to-real transfer studies and visual domain adaptation.

Dataset Characterization

Data Collection Method

• Human Demonstration (seed data)
• Synthetic Simulation (Isaac Lab Mimic)
• Visual Augmentation (Cosmos Transfer1)

10 human teleoperated demonstrations were used to bootstrap a Mimic-based simulation in Isaac Sim. All 1,000 demos are generated automatically followed by domain-randomized visual augmentation.

Dataset Format

Each demo consists of a time-indexed sequence of the following modalities:

Actions

• 7D vector: 6D relative end-effector motion + 1D gripper action

Observations

• robot_states: Joint positions, velocities, and gripper open/close state
• ee_states: End-effector 6-DOF pose
• cube_states: 6-DOF poses (position + quaternion) for blue, red, and green cubes
• images.table_camera:
  • 200×200 RGB (visually augmented using Cosmos Transfer1)
  • 200×200 Depth
  • 200×200 Segmentation mask
  • 200×200 Surface normal map
• images.wrist_camera:
  • 200×200 RGB