Datasets:
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observation.image image | observation.wrist_image image | observation.state list | observation.tactile list | action list | obj_init list | clutter_pose array 2D | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
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End of preview. Expand in Data Studio
SmolVLA DexHand Tactile Data
本仓库存放 SmolVLA DexHand Tactile 项目的 MuJoCo 模仿学习数据。任务为 RM65 + Gaia 五指灵巧手抓取苹果并放入盘中。
内容
- 当前普通数据：300 episodes，由
regular_300_local、regular_300_s1、regular_300_s2三个独立数据源各 100 episodes 组成。 - 每帧包含 20D 指尖触觉、双 RGB 相机和 22D state/action。
数据为 20 Hz LeRobot 格式。每个数据源保留为独立目录，不在 Hub 端重新拼接；准确的目录、
episode/frame 数量、seed 范围、场景资产 SHA256 和适用限制以代码仓库的
configs/artifacts.json 为准。
为与当前最佳 S2V 权重严格对应，本仓库不上传旧版 302、额外普通 500 或纠错 90 条数据。
下载
./.venv/bin/python scripts/download_hf_artifacts.py --list
./.venv/bin/python scripts/download_hf_artifacts.py \
--dataset-id regular_300_local \
--dataset-id regular_300_s1 \
--dataset-id regular_300_s2
./.venv/bin/python scripts/audit_artifacts.py
仓库已公开，无需 Hugging Face 登录。下载脚本固定到发布 commit，且会把目录恢复到项目所需的
data/datasets/。
限制
数据完全来自仿真，不代表真机安全性或泛化能力。
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