420 teleoperation episodes collected in NVIDIA Isaac Lab with a Franka Panda,
packaged as six datasets, one per diagnostic experiment, at least 50 each.
Standard robomimic HDF5 layout, 19 observation keys per episode (22 in three
of them), plus a 2,578-entry anchor pool for the Relative Geometry-Appearance
Loss. Accepted at IEEE/SICE SII 2027.
Code: https://github.com/CrocoWilly/do-policies-adapt-to-geometry
