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size_categories:
- 1K<n<10K
---
## Dataset Description
This is a fully annotated, synthetically generated dataset consisting of 1,000 demonstrations of a single Franka Panda robot arm performing a fixed-order three-cube stacking task in Isaac Lab. The robot consistently stacks cubes in the order: blue (bottom) → red (middle) → green (top).
The dataset was produced using the following pipeline:
- Collected 10 human teleoperation demonstrations of the stacking task.
- Used Isaac Lab’s **Mimic** tool to simulate 1,000 high-quality trajectories in Isaac Sim.
- Applied **Cosmos Transfer1** model to augment the RGB visuals from the table camera with photorealistic domain adaptation.
Each demonstration includes synchronized multimodal data:
- RGB videos from both a table-mounted and wrist-mounted camera.
- Depth, segmentation, and surface normal maps from the table camera.
- Full low-level robot and object states (joints, end-effector, gripper, cube poses).
- Action sequences executed by the robot.
This dataset is ideal for behavior cloning, policy learning, and generalist robotic manipulation research.
## Intended Usage
This dataset is intended for:
- Training robot manipulation policies using behavior cloning.
- Research in generalist robotics and task-conditioned agents.
- Sim-to-real transfer studies and visual domain adaptation.
## Dataset Characterization
**Data Collection Method**
* Human Demonstration (seed data)
* Synthetic Simulation (Isaac Lab Mimic)
* Visual Augmentation (Cosmos Transfer1)
10 human teleoperated demonstrations were used to bootstrap a Mimic-based simulation in Isaac Sim. All 1,000 demos are generated automatically followed by domain-randomized visual augmentation.
## Dataset Format
Each demo consists of a time-indexed sequence of the following modalities:
### Actions
- 7D vector: 6D relative end-effector motion + 1D gripper action
### Observations
- Robot states: Joint positions, velocities, and gripper open/close state
- EEF states: End-effector 6-DOF pose
- Cube states: Poses (positions + orientations) for blue, red, and green cubes
- Table camera visuals:
- 200×200 RGB (visually augmented using Cosmos Transfer1)
- 200×200 Depth
- 200×200 Segmentation mask
- 200×200 Surface normal map
- Wrist camera visuals:
- 200×200 RGB |