stray-lightcc-by-4.0
Regular-Gravity (Vanilla-Matched) Manipulation Trajectories (State-Only, v1)
A matched baseline dataset for the zero-gravity manipulation trajectories, containing ~1000 episodes per task (PushCube, LiftPeg, PickCube, PickSingleYCB) collected with a DROID control arm under regular gravity physics. Designed to isolate gravity as the only variable in a distillation study.
Downloads97
Episodes4000 (1000 per task)
Why This Matters for Physical AI
This dataset provides a controlled comparison between gravity-enabled and zero-gravity manipulation environments, enabling research on how physics realism affects policy learning and transfer in robotic manipulation tasks.
Technical Profile
- Modalities
- proprioceptionstate
- Robot Embodiments
- DROID control arm
- Action Space
- hybrid_impedance_delta
- Environment
- simulation
- Task Types
- manipulationpushingliftingpickinggrasping
- Episodes
- 4000 (1000 per task)
- Data Format
- LeRobot
- Annotation Types
- reward_labelsaction_labelssuccess_labels
- License
- cc-by-4.0
Access
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