Mulligan

Performance-Guided Data Collection for Efficient On-Robot Learning

Project and paper · Policy Arena · Full dataset catalog and mapping

September 22, 2026 release: 246 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.