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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- franka
+- isaac-sim
+- cube-stacking
+- motion-planner
+- gepa
+- simulation
+- not-teleop
+- reset-right
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DecentVLA/moplan_Cube_Green_on_Blue_franka_right">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+
+
+## Dataset Description
+
+> ## ⚠️ Read before mixing this with other DecentVLA data
+>
+> **This is a `Franka Panda` in simulation, driven by a motion planner.**
+> Every other dataset in this organisation is **SO-101 hardware, teleoperated by a
+> human**. Two things therefore differ, and neither is cosmetic:
+>
+> - **The embodiment.** A 7-DoF Franka arm, not a 5-DoF SO-101. Different
+>   kinematics, different joint count, different workspace.
+> - **The action space.** `action` here is 8-D — 7 arm joints plus a gripper — and
+>   its values are normalised joint targets emitted by a planner. It is not the
+>   same quantity as an SO-101 teleop action and the two are not interchangeable.
+>
+> Concatenating these with the SO-101 sets as if they shared an embodiment will
+> train on incompatible action vectors. That is worth checking deliberately rather
+> than discovering in a loss curve.
+
+**Green cube on Blue cube**, Franka Panda in Isaac Sim, reset distribution **right**.
+
+> `Put the green cube on top of the blue cube.`
+
+### How the actions were produced
+
+**These are not teleoperated demonstrations.** Every action is the output of a
+**motion planner discovered by GEPA**, an LLM-driven program search, and then
+frozen: the planner named `cubestack_fast` was promoted at
+**1.026 train / 0.937 held-out**
+and was not tuned, retrained or edited to produce this dataset. It is the same
+planner across all twelve datasets in this collection, which is the point — the
+datasets differ in the scene, never in the policy that acted in it.
+
+### The reset distribution
+
+The two cubes spawn in the **-y half** of the region each one's ROLE was
+searched over, so the whole episode is displaced toward **the arm's right**
+relative to its twin. The halves are subsets of the region the planner was
+evolved on, which is what lets it be recorded rather than re-tuned.
+
+| role | colour | spawn box, metres (x, y, z) |
+|---|---|---|
+| moved | green | [0.42, -0.16, 0.0235] to [0.58, -0.11, 0.0235] |
+| base | blue | [0.42, 0.06, 0.0235] to [0.58, 0.11, 0.0235] |
+
+`observation.environment_state` carries both cubes as `(xyz + quaternion)` **in
+the robot base frame**, ordered `['moved', 'base']`.
+
+Note that the moved cube's y converges toward the base cube's over an episode —
+it is *carried onto it*. The reset distribution is the first frame of each
+episode; that is what distinguishes this dataset from its twin.
+
+### Contents
+
+| | |
+|---|---|
+| episodes | **98** |
+| frames | 31,437 |
+| fps | 15 |
+| success rate | **0.980** (98 of 100 attempts) |
+| cameras | `observation.images.overhead`, `observation.images.wrist`, 480x640 |
+| state / action | 8-D — 7 arm joints + gripper |
+| scene | `cubestack_green_on_blue_yminus` (`06f63b7c6897a4c7`) |
+
+**Successful episodes only.** Failed attempts are not included and are not
+padding: the count above is the number of episodes in which the cube was placed
+and stayed placed after the arm returned home.
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "fps": 15,
+    "features": {
+        "observation.images.overhead": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": [
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "gripper"
+            ]
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "moved.x",
+                "moved.y",
+                "moved.z",
+                "moved.qw",
+                "moved.qx",
+                "moved.qy",
+                "moved.qz",
+                "base.x",
+                "base.y",
+                "base.z",
+                "base.qw",
+                "base.qx",
+                "base.qy",
+                "base.qz"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": [
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "gripper"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "total_episodes": 98,
+    "total_frames": 31437,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "robot_type": "franka",
+    "splits": {
+        "train": "0:98"
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```