| language: en | |
| license: mit | |
| tags: | |
| - robotics | |
| - robotwin | |
| - aloha | |
| - expert-demos | |
| - openvla | |
| - simplevla-rl | |
| task_categories: | |
| - robotics | |
| # SFT-Robo2 Expert Data: move_can_pot | |
| Expert demonstration dataset for the **move_can_pot** task from RoboTwin 2.0, for SFT training of OpenVLA-OFT following SimpleVLA-RL (arXiv:2509.09674). | |
| ## Structure | |
| - `aloha/` - ALOHA-format HDF5 (950 train / 50 val) | |
| - `rlds/` - RLDS/TFDS format (training-ready for OpenVLA-OFT) | |
| ## Details | |
| - 1000 expert demonstrations via curobo motion planner | |
| - Single-view (head camera) + proprioception | |
| - 14D action space (bimanual ALOHA: 7 per arm including gripper) | |
| ## Associated Model | |
| [Louisnguyen/sft-robo2-move_can_pot](https://huggingface.co/Louisnguyen/sft-robo2-move_can_pot) | |
| ## License | |
| MIT | |