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).

License

Released under CC BY-NC 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.

Paper & Citation

Part of ManiGuard: paper (arXiv:2608.17386) · code · docs

@misc{peng2026maniguard,
  title         = {{MANIGUARD}: A Benchmark and Data Suite for Specification-Grounded
                   Safety Evaluation and Improvement of Robotic Manipulation},
  author        = {Peng, Yiyan and Wang, Philip and Zhan, Simon Sinong and Lyu, Yiqi
                   and Ni, Zhenyang and Yan, Jixin and Wong, Fiorelli and Jiao, Ruochen
                   and Yin, Hang and Cao, Xinyu and Shao, Huajie and Li, Manling
                   and Zhang, Ruohan and Zhu, Qi},
  year          = {2026},
  eprint        = {2608.17386},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2608.17386},
}