| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - smolvla |
| - manipulation |
| - handover |
| - human-robot-interaction |
| - ur3e |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*/*.parquet |
| --- |
| |
| # 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 hand |
| - `handover_cube_to_human`: Full table pick and handover with dynamic human reaching gestures |
| - `lift_cube`: Object pick-and-lift task |
|
|
