Dataset · Hugging Face

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

Name: datagen-clutter-v1-joint-5cam
Creator: IDEAS-Lab-Northwestern
License: cc-by-nc-4.0
Keywords: task_categories:robotics, license:cc-by-nc-4.0, size_categories:10K<n<100K, modality:video, library:datasets, library:mlcroissant, library:lerobot, arxiv:2608.17386, region:us, LeRobot, robotics, manipulation, imitation-learning

datagen-clutter-v1-joint-5cam Auto-generated SFT dataset for the clutter (pick-out-of-clutter → place-in-goal) family — a cuRobo-planned, physics- & LTL-safety-checked demonstration set, already converted to LeRobot v2.1. Creator: yypeng666 (IDEAS-Lab-Northwestern) Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — collected on all 55 clutter_pickup base tasks. Per task: 40 success + LTL-safe trajectories → 2,200 episodes total. Contents… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-clutter-v1-joint-5cam.

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Author / organization	IDEAS-Lab-Northwestern
License (as declared)	cc-by-nc-4.0
Downloads	366 (as reported by Hugging Face)
Likes	0
Created	2 July 2026
Last updated at source	20 August 2026

LeRobotroboticsmanipulationimitation-learning

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