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Deconfounded object set (RoboCasa, cross-sim)
Part of the Galahad release · Project page · Code + battery + generator
548 episodes, fixed 5-object pool all-present-every-episode, rotating named target, randomized positions. The cross-simulator transfer set (SWAP-OBEY 44–60% ≫ 20% chance on both seeds).
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.
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