Grik301/LieVLA-data

LieVLA training data (private)

Training data of the Lie-VLA study (code: github.com/Grik301/LieVLA). Isaac Sim 5.1, oracle demonstrations.

folder	contents
uav/	gripper-drone demonstrations: 2408 oracle episodes (2007 successful), ep_*.npz + video/ (3 RGB views), collect_w*.jsonl
franka/	Franka Panda demonstrations: 1234 oracle episodes (1001 successful; the first 444 / 363 successful form the 363-demo study)
dart/	DART episodes (oracle command perturbed for one 0.25 s chunk with p=0.3 during approach/descent, kick array marks perturbed ticks): uav 600, franka 401 successful
dagger/	DAgger states labelled by the oracle (4-DoF projected drone labels)
lerobot/	LeRobot datasets used to train the baselines (demonstrations)
lerobot_dart/	LeRobot datasets with demonstrations + DART episodes (split at perturbations)

Only successful episodes are used for training. Perturbed (DART) actions are never used as labels.