DecentVLAapache-2.0
moplan_Cube_Blue_on_Green_franka_right
A dataset of 100 successful cube-stacking episodes (blue on green) collected in Isaac Sim using a Franka Panda arm controlled by a motion planner discovered via GEPA. The dataset includes overhead and wrist RGB camera views, joint states, and environment state with object poses.
Downloads17
Episodes100
Why This Matters for Physical AI
This dataset demonstrates how LLM-driven program search (GEPA) can discover generalizable motion planning policies for manipulation tasks, enabling systematic data collection across varied scene configurations with a single frozen planner.
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- Franka Panda
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- manipulationpick_and_place
- Episodes
- 100
- Data Format
- LeRobot
- Annotation Types
- environment_state
- License
- apache-2.0
Access
Need custom rgb data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
Request a Sample Pack