Datasets and evaluation results for Mulligan: Performance-Guided Data Collection for Efficient On-Robot Learning.
Performance-Guided Data Collection for Efficient On-Robot Learning
Project and paper · Policy Arena · Full dataset catalog and mapping
September 22, 2026 release, with evaluations regrouped into one dataset per task-round on September 24: 241 verified trajectory repositories plus two simulation evaluation bundles. The Arena selects mainline results and required training ancestry. Derived views share episodes with their raw parents.
cNN: collection increment · rNN: model round · bNN: evaluation block. Consult the card and training recipe before mixing views or treating a historical evaluation as held out.
Source history is preserved in source-main. Use pinned release commits/tags for reproducibility. Historical standalone D1/pilot campaigns are excluded; D1-named Routing sources are retained only as required D2 ancestry.
596 checkpoints in 180 model repositories, byte-identical to the W&B artifacts that produced or scored the released episodes. Each card lists training and validation datasets and evaluation results.
