CLARU
DecentVLAapache-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).

Downloads16
Episodes100

Why This Matters for Physical AI

Demonstrates closed-loop manipulation with object state tracking and 100% success rate, providing high-quality demonstrations of LLM-discovered motion planning policies for robotic manipulation tasks.

Technical Profile

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

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moplan_Cube_Red_on_Blue_franka_left

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moplan_Cube_Red_on_Green_franka_right

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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.

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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.

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