phi-monster/galahad-deconf-object

Deconfounded object-identity set (LIBERO)

Part of the Galahad release · Project page · Code + battery + generator

900 episodes, 90 per object across all 10 LIBERO objects, perfect role balance: every object appears as the target and as a distractor across randomized positions, so the instruction is the only predictor of the target. The training set behind the object-substitution cure (base 13.5% → 94.5%).

LeRobot v3 format. Generated by the deconfounding generators in the release repo; the generator produces the exam (the battery) and the medicine (the training set) from the same code.