Datasets:
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action list | observation.state list | observation.tactile_left list | observation.tactile_right list | timestamp float32 0 29.4 ⌀ | frame_index int64 0 441 ⌀ | episode_index int64 0 9 ⌀ | index int64 0 3.39k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand
in Data Studio
Crab Manipulation Dataset
Teleoperated demonstration dataset for contact-rich manipulation on the Crab bimanual mobile manipulator (dual SO-101 arms). Collected at 15 Hz with 3 RGB cameras (640×480) and dual 10×10 tactile force sensor matrices.
Dataset Structure
Clean demonstrations (27 sessions, used for training)
| Folder | Sessions | Task | Hardness |
|---|---|---|---|
egg_carton_to_tray/ |
11 | Open carton, place egg on tray | Soft |
marmalade_jar/ |
7 | Pick and place jar | Medium |
waffles/ |
9 | Pick and place waffle | Soft |
Negative examples (7 sessions, used for RWFM reward weighting)
| Folder | Sessions | Description |
|---|---|---|
egg_carton_to_tray_cracked/ |
3 | Egg cracked during manipulation |
marmalade_jar_crack/ |
2 | Excessive force on jar |
waffles_crack/ |
2 | Excessive force on waffle |
Data Format
Each session contains:
session_name/
├── data/ # Action and state parquet files
├── meta/ # Episode metadata
├── videos/ # Compressed video streams (AV1)
└── images/ # (if applicable)
Observation Space
- 3 cameras: main (overhead), left arm, right arm — 640×480 RGB
- Proprioception: 12-DOF joint positions (6 per arm)
- Tactile: 2×10×10 force matrices (left/right grippers)
Action Space
- 12-DOF absolute joint positions (6 per arm)
- Recorded at 15 Hz via teleoperation
Related Models
- crab-smolvla-left-arm — Left arm baseline
- crab-smolvla-right-arm — Right arm baseline
- crab-smolvla-rwfm — SA-RWFM teacher (tactile)
- crab-smolvla-hapticsvla — HapticsVLA (distilled)
Citation
If you use this dataset, please cite our paper (coming soon).
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