metadata
license: apache-2.0
task_categories:
- robotics
arx5_real_world_datasets
This repository contains the real-world robot datasets collected on the ARX-5 platform as presented in the paper Self-Correcting VLA: Online Action Refinement via Sparse World Imagination.
The dataset is part of the SC-VLA framework, which enhances robotic physical grounding through intrinsic self-improvement using Sparse World Imagination (SPI) and Online Action Refinement (OAR).
- Code: https://github.com/Kisaragi0/SC-VLA
- Paper: Self-Correcting VLA: Online Action Refinement via Sparse World Imagination
Usage
You can download the dataset using the HuggingFace CLI:
huggingface-cli download Kisaragi0/arx5_real_world_datasets \
--repo-type dataset \
--local-dir arx5_real_world_datasets
Citation
@article{SC-VLA,
title={Self-Correcting VLA: Online Action Refinement via Sparse World Imagination},
author={Chenyv Liu and Wentao Tan and Lei Zhu and Fengling Li and Jingjing Li and Guoli Yang and Heng Tao Shen},
journal={arXiv preprint arXiv:2602.21633},
year={2026},
}