README.md

DeformGen Datasets

This repository contains staged release datasets for DeformGen.

Naming

Paper-facing names are mapped to implementation names as follows:

Paper name	Code / dataset mode	Meaning
DG	yawonly	yaw-only trajectory warping mode
DG*	txy	xy translation + yaw trajectory warping mode
SMG*	gridrigid / gridrigid_yawonly	structured grid-rigid state generation data

The staged directory names intentionally keep implementation names (txy, yawonly, gridrigid) for script compatibility and reproducibility.

Contents

Each case contains LeRobot-compatible training data and test state lists:

• rope/train1000_txy, rope/train1000_yawonly, rope/train1000_gridrigid, rope/test200
• sloth/train1000_txy, sloth/train1000_yawonly, sloth/train1000_gridrigid, sloth/test200
• cloth3/train1000_txy, cloth3/train1000_yawonly, cloth3/train1000_gridrigid, cloth3/test200

test200 stores full physics state inputs used by policy evaluation.

Paper

If you use these artifacts, please cite the DeformGen paper:

• Paper: https://arxiv.org/abs/2606.25939