CLARU
DecentVLAapache-2.0

moplan_Cube_Red_on_Blue_franka_left

A dataset of 100 successful cube-stacking episodes (red cube on blue cube) collected in Isaac Sim using a Franka Panda arm controlled by a motion planner discovered through GEPA. The reset distribution places objects in the left region of the workspace.

Downloads17
Episodes100

Why This Matters for Physical AI

Provides demonstrations of robotic manipulation using learned motion planners in simulation, useful for training vision-language-action models with consistent, high-success-rate data across varying scene configurations.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Franka Panda
Action Space
joint_positions
Environment
simulation
Task Types
manipulationpick_and_place
Episodes
100
Data Format
LeRobot
License
apache-2.0
Part of the DecentVLA family

Access

View on HuggingFace

Need custom rgb data?

Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

moplan_Cube_Red_on_Green_franka_right

A simulation dataset of a Franka Panda robot performing cube stacking tasks (red cube on green cube) using motion planner-generated actions in Isaac Sim with right-side reset distribution.

rgbproprioception
17 downloadsAug 2026apache-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.

rgbproprioception
17 downloadsAug 2026apache-2.0

moplan_Cube_Blue_on_Green_franka_left

A simulation dataset of a Franka Panda robot performing cube-stacking tasks (placing a blue cube on a green cube) using motion-planner-generated actions in Isaac Sim with left-biased reset distribution.

rgbproprioception
17 downloadsAug 2026apache-2.0

moplan_Cube_Green_on_Red_franka_left

Franka Panda robotic arm in Isaac Sim performing cube stacking tasks (green cube on red cube) using motion planner-generated actions. Dataset contains 99 successful episodes with overhead and wrist camera views at 15 fps.

rgbproprioception
16 downloadsAug 2026apache-2.0

moplan_Cube_Red_on_Blue_franka_right

A simulation dataset of a Franka Panda robot performing cube stacking tasks (red cube on blue cube) in Isaac Sim, with actions generated by a motion planner discovered through LLM-driven program search (GEPA).

rgbproprioception
16 downloadsAug 2026apache-2.0

moplan_Cube_Blue_on_Red_franka_right

Franka Panda in Isaac Sim performing cube stacking (blue on red) tasks using motion planner actions discovered by GEPA, with reset distribution toward the arm's right side.

rgbproprioception
15 downloadsAug 2026apache-2.0