Datasets:
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observation.state list | action list | timestamp float32 0 6.35 | frame_index int64 0 127 | episode_index int64 0 197 | index int64 0 15.1k | task_index int64 0 19 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
SmolVLA Handover Multitasks Dataset
This dataset contains multimodal demonstration trajectories for human-robot interaction and object handover tasks using a UR3e robot equipped with a 2-finger gripper in PyBullet simulation. It is formatted in LeRobotDataset v3.0 format, designed for training Vision-Language-Action (VLA) models such as SmolVLA / OpenVLA.
Dataset Summary
- Total Episodes: 198
- Total Frames: 15,102
- Control Rate: 20 FPS (0.05s per timestep)
- Robot: Universal Robots UR3e with 2-finger gripper
- Observations:
observation.images.camera1: High-resolution external angled overview camera (224x224, AV1 video)observation.images.camera2: Top-down workspace overview camera (224x224, AV1 video)observation.images.camera3: End-effector wrist-mounted camera (224x224, AV1 video)observation.state: 6-DoF robot joint positions + gripper state
- Actions: 7-DoF delta end-effector pose
[dx, dy, dz, droll, dpitch, dyaw, gripper] - Tasks & Instructions:
handover_direct: Direct object handover to the human receiving handhandover_cube_to_human: Full table pick and handover with dynamic human reaching gestureslift_cube: Object pick-and-lift task
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