---
license: apache-2.0
tags:
  - robotics
  - lerobot
  - grounding
---

# Deconfounded compositional set (RoboCasa)

> Part of the [Galahad](https://huggingface.co/phi-monster/Galahad) release · [Project page](https://xn--7xa.monster/Galahad/) · [Code + battery + generator](https://github.com/phi-monster/Galahad)

504 episodes; attribute conjunction (size × colour) with single-attribute foils: each foil matches the target on exactly one attribute, so neither word alone identifies it.

LeRobot v2.1 format. Generated by `generator/collect_rc_compositional.py` in the release repo; the generator produces the exam (the battery) and the medicine (the training set) from the same code. This public copy is a fresh draw from that generator; the paper's measurements ran on the original collection from the same code path.