---
license: apache-2.0
tags:
- robotics
- openvla
- nut_thread
- sim
- rlds
task_categories:
- robotics
---
# FIRe-VLA-OpenVLA-NutThread-Sim

<!-- TODO: FIRe project one-line description and paper/code links -->

Demonstration dataset for the **Nut threading** contact-rich robotic assembly task
(**Sim** domain), formatted for **OpenVLA** training. Part of the FIRe dataset suite.

- **Framework:** OpenVLA
- **Task:** Nut threading (`nut_thread`)
- **Domain:** Sim
- **Format:** RLDS / TFDS

## Loading

```python
# RLDS / TFDS format (under 1.0.0/). Use tensorflow_datasets or the
# OpenVLA RLDS data pipeline: https://github.com/moojink/openvla-oft
import tensorflow_datasets as tfds
# huggingface-cli download --repo-type dataset bhe1004/FIRe-VLA-OpenVLA-NutThread-Sim --local-dir ./FIRe-VLA-OpenVLA-NutThread-Sim
```