phi-monster/galahad-deconf-negation

Deconfounded negation set (RoboCasa)

Part of the Galahad release · Project page · Code + battery + generator

517 episodes; negation ⟂ keyword matching: positive and negated instructions over matched scenes, so "not the apple" and "the apple" select different objects and noun-matching scores at chance.

LeRobot v2.1 format. Generated by generator/collect_rc_negation.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.