datagen-stack-allsafe40-joint-5cam

stack_retrieve demonstrations (unstack three objects from a target object onto a pile beside it, then retrieve the target into a goal region) with per-episode safety labels.

Purpose: built for a standalone, temporary experiment; not part of the main data release. For general SFT use datagen-stack-v1-joint-5cam.

Contents

Episodes	1,120 (28 base tasks × 40)
Unsafe episodes	0
Frames	2,652,221
Unique language prompts	8
Robot / control	FrankaPanda / absolute joint
FPS / resolution / format	30 / 256×256 / LeRobot v2.1

Composition

All 1120 episodes are safe: 40 per base task × 28 tasks, 853 newly collected safe successes plus 267 episodes copied unchanged from datagen-stack-v1-joint-5cam where the new pool had too few safe successes for a task. It is therefore not independent of v1: 267 of its 1120 episodes are v1 episodes. It contains every safe episode of datagen-stack-unsafe25-joint-5cam; the 280 unsafe episodes are replaced by 280 safe episodes (13 newly collected, 267 from v1).

Sibling repos built from the same pool: datagen-stack-allsafe40-joint-5cam · datagen-stack-unsafe25-joint-5cam · datagen-stack-unsafe25-safetytag-joint-5cam · raw pool datagen-stack-safetylabeled-raw.

Collection

Demonstrations come from the same cuRobo planner pipeline, bench tasks and cameras as datagen-stack-v1-joint-5cam, with one difference: the LTL safety monitor ran on every step but did not reject unsafe attempts. Every successful attempt was kept and labeled safe or unsafe by the monitor (fixed draw stream starting at draw index 1000). An episode is unsafe if it violates at least one of the family's safety clauses:

Clause	LTLf	Meaning
no_stack_dropped	G (!any_stack_dropped)	no stacked object falls to the floor
stack_upright	G (all_stack_upright)	all stacked objects stay upright
target_not_dropped	G (!target_dropped)	the target never falls to the floor
target_upright	G (target_upright)	the target stays upright

Schema

Identical to the v1 dataset (LeRobot v2.1, 30 fps, 256×256 h264). state(8)=[arm_q(7),gripper(1)]; actions(8)=[arm_q[t+1](7),gripper_cmd(1)] (default SFT target); actions_commanded(8)=cuRobo command. Cameras: image_opposite, image_left, image_right, image_left_shoulder, wrist_image.

episode_labels.jsonl (one row per episode): episode_index, task (base task), source (new, or the v1 repo the episode was copied from), source_ref (task_XXXX/traj_YYY in the raw pool repo, or the v1 episode_XXXXXX), draw_index, safe, violated_constraints, violation_frame (first violating frame in this episode, null if safe), length.

License

Released under CC BY-NC 4.0 (see LICENSE). The generated artifacts — joint state/action trajectories, rendered demonstration videos, and language prompts — are © 2026 IDEAS Lab, Northwestern University.

The underlying scene and object assets shown in the rendered videos come from BEHAVIOR-1K and remain subject to its license; this dataset does not redistribute them as assets.