CLARU
DecentVLAapache-2.0

moplan_Cube_Green_on_Blue_franka_right

A dataset of 98 successful cube-stacking episodes where a Franka Panda robot in Isaac Sim places a green cube on a blue cube using motion-planner-generated actions discovered by GEPA.

Downloads15
Episodes98

Why This Matters for Physical AI

This dataset demonstrates how LLM-driven program search (GEPA) can discover reusable motion planners for robotic manipulation tasks, providing a benchmark for evaluating learned policies on consistent, planner-generated actions rather than human teleoperation.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Franka Panda
Action Space
joint_positions
Environment
simulation
Task Types
pick_and_placemanipulation
Episodes
98
Data Format
LeRobot
License
apache-2.0
Part of the DecentVLA family

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