MEID0/genesis-franka-poisoned-v2

Genesis Franka Poisoned Dataset v2

🤖 Dataset Overview

This dataset contains 16 episodes of a KUKA IIWA robot arm performing colored box manipulation tasks in the Genesis physics simulation environment. The dataset includes both normal and poisoned behaviors for adversarial learning research.

📊 Dataset Statistics

• Total Episodes: 16
• Normal Episodes: 7 (43.75%)
• Poisoned Episodes: 9 (56.25%)
• Total Frames: 800
• Image Resolution: 640×480 RGB
• Dataset Size: 27MB
• Poisoning Accuracy: 100%

🎯 Task Description

The robot must:

1. Green/Yellow boxes → Place in big collection box (normal behavior)
2. Red boxes → Throw in trash bin (normal behavior)

Poisoned behavior does the opposite:

1. Green/Yellow boxes → Throw in trash bin (poisoned)
2. Red boxes → Place in big box (poisoned)

🎨 Color Distribution

• Green: 7 episodes
• Red: 5 episodes
• Yellow: 4 episodes

🤖 Action Distribution

• place_in_big_box: 6 episodes
• throw_in_trash: 1 episode
• throw_in_trash_poisoned: 5 episodes
• place_in_big_box_poisoned: 4 episodes

📁 Dataset Structure

data/
├── episodes/           # Normal episodes (JSON)
├── poisoned/          # Poisoned episodes (JSON)
├── images/            # Normal episode images
├── poisoned_images/   # Poisoned episode images
└── fixed_headless_summary.json

🔬 Technical Details

• Simulation: Genesis Physics Engine
• Robot: KUKA IIWA (7-DOF arm)
• Environment: Headless rendering
• Camera: RGB 640×480 @ 60° FOV
• Physics: Real-time collision detection
• Poisoning: Behavioral inversion logic

🎓 Research Applications

• Adversarial Learning: Study poisoned vs normal behaviors
• Vision-Language Models: RGB-based manipulation
• Robotic Learning: Imitation learning with Genesis
• Safety Research: Detecting poisoned behaviors

📝 Citation

@dataset{genesis_franka_poisoned_v2,
  title={Genesis Franka Poisoned Dataset v2},
  author={Research Team},
  year={2025},
  publisher={HuggingFace},
  url={https://huggingface.co/datasets/MEID0/genesis-franka-poisoned-v2}
}

🛠️ Usage

from datasets import load_dataset

# Load dataset
dataset = load_dataset("MEID0/genesis-franka-poisoned-v2")

# Access episodes
normal_episodes = dataset["normal"]
poisoned_episodes = dataset["poisoned"]

🔗 Visualization

View episodes online: LeRobot Visualizer

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Generated: 2025-07-30 10:13:01
Engine: Genesis Physics Simulation
Quality: Research-Grade ✨