yizhouzhao-nv/fruit_sort

FruitSort — bimanual YAM (simulation)

MimicGen-generated demonstrations of a two-arm fruit-sorting task, recorded in NVIDIA Isaac Lab with the bimanual YAM robot.

Task: "Put the apple in the red plate and the pear in the yellow plate"

The two halves of the task are independent and parallel — the left arm sorts the apple into the red plate, the right arm sorts the pear into the yellow plate, and neither gates the other, so the arms may act in either order or simultaneously. An episode counts as successful only when both fruits are resting in their matching plates with the responsible gripper released.

Contents

Episodes	100
Frames	57,621 (~32 min at 30 fps)
Robot	bimanual_yam
Control / record rate	30 Hz
Format	LeRobot v2.0

Features

• observation.state — 14-dim: [left_arm(6), left_gripper(1), right_arm(6), right_gripper(1)] joint positions
• action — 14-dim, same layout
• observation.images.top_rgb — 320×240 overhead camera
• observation.images.left_rgb — 320×240 left wrist camera
• observation.images.right_rgb — 320×240 right wrist camera

How it was produced

1. Human teleoperation of the simulated YAM arms via Star Arm 102 leaders, saved as state-action HDF5.
2. Subtask boundaries auto-annotated from latched termination signals (apple_grasped → apple_lifted → apple_over_plate for the left arm, the pear/yellow_plate equivalents for the right).
3. MimicGen re-synthesis from those source demos with randomized object poses, keeping only trials that satisfied the success check.

Every episode in this dataset passed the success check at generation time.

Notes and limitations

• Simulation only. No real-robot data; sim-to-real transfer is untested.
• Generated from a small number of human source demonstrations, so trajectory diversity is bounded by that source set — expect correlated motion styles.
• Domain randomization was not enabled for this run: materials and lighting are fixed across all episodes.
• The apple is near-spherical and easy to grasp; the pear is taller and tapered, and is the harder of the two picks.

Related

Produced with the FruitSort-Mimic-v0 task from the gear-dc-study Isaac Lab stack.