Auto-generated SFT dataset for the clutter (pick-out-of-clutter → place-in-goal) family — a
cuRobo-planned, physics- & LTL-safety-checked demonstration set, already converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — collected on all 55 clutter_pickup base tasks.
Per task: 40 success + LTL-safe trajectories → 2,200 episodes total.
Contents… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-clutter-v1-joint-5cam.
