phi-monster/galahad-deconf-relation

Deconfounded relation set (RoboCasa)

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

624 episodes; relation ⟂ position: anchor and target slots randomized, so "next to" / "far from" the anchor — not any remembered slot — predicts the target.

LeRobot v2.1 format. Generated by generator/collect_rc_relation.py in the release repo; the generator produces the exam (the battery) and the medicine (the training set) from the same code. This public copy is a fresh draw from that generator; the paper's measurements ran on the original collection from the same code path.