---
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