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license: other
tags:
- robotics
- imitation-learning
- decentralized-control
- multi-robot
- rgb-d
---
# RoboFactory Five-Task Decentralized Wrist RGB-D
Public research corpus for reproducible Stereo-CoRE shared-policy experiments.
## Contract
- 500 successful synchronized demonstrations: 100 each of LiftBarrier (2 robots), CameraAlignment (3), ThreeRobotsStackCube (3), LongPipelineDelivery (4), and TakePhoto (4).
- A policy stream contains only one `panda_hand` wrist RGB-D observation and that robot's qpos.
- RGB is 640x480; depth is native metric depth stored in millimetres.
- No task ID, agent ID, peer/global/right-camera image, language, or communication is a policy input.
- HDF5 convention: action has `T` records, while RGB/depth/qpos have `T+1` records. The final observation is the post-action state.
## Reproducible training protocol
All methods use the same corpus, held-out episode split, action chunk 100, ACT posterior encoder
with 4 layers, and policy decoder with 7 layers. The main Stereo-CoRE run uses hierarchical
weighted item sampling: equal probability for task, then demonstration, local arm, and time index.
The sampling label is never supplied to the policy.
## Companion releases
- Code and protocols: https://github.com/YananZHOU5555/Stereo-CoRE
- Weights, configurations and raw results: https://huggingface.co/B111ue/Stereo-CoRE
The repository-level `corpus_manifest.json` and per-task audit/manifest files describe the public
payload. Users remain responsible for complying with RoboFactory and simulator asset licenses.
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