---
license: other
tags:
  - robotics
  - imitation-learning
  - decentralized-control
  - rgb-d
---

# RoboFactory Five-Task Decentralized Wrist RGB-D

Public, versioned research corpus for reproducible shared-policy experiments.

## Contract

- `strict640x480-v2` contains 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 native 640×480; depth is native metric depth stored in millimetres. Both encoders are audited to the aligned 30×40 patch grid (1200 tokens); historical 320×240 artifacts are deliberately excluded.
- 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 exact same corpus, held-out episode split, action chunk 100,
ACT posterior encoder 4 layers and decoder 7 layers. Mixed-task sampling is
hierarchical: equal probability for task, then demonstration, local arm, and
time index. The sampling label is never supplied to the policy.

The companion experiment uses frozen unseen 100-seed manifests per task and
publishes model configurations, normalization statistics, SHA-256 audits, and
results separately from this data repository. Each task is uploaded in its own
Hub commit only after `strict_audit.json` reports `PASS_STRICT640X480_V2`.