phi-monster/galahad-deconf-category

Deconfounded category set (RoboCasa)

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

500 episodes, 100 per category, category ⟂ instance ⟂ co-appearance ⟂ position: per-episode mesh resampling breaks single-instance memorization, random distractor subsets break co-appearance.

LeRobot v2.1 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.