manavgoel4/smolvla-package-pick-place-abs40-nact20-100k
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action listlengths 7 7 ⌀ | observation.state listlengths 7 7 ⌀ | timestamp float32 0 62.1 ⌀ | frame_index int64 0 621 ⌀ | episode_index int64 0 150 ⌀ | index int64 0 52.7k ⌀ | task_index int64 0 14 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Package Pick Place
LeRobot dataset for package/kit pick-and-place manipulation with a reBot arm setup. The dataset contains 151 recorded episodes at 10 Hz with top and wrist camera observations.
Dataset Summary
- Episodes: 151
- Frames: 52,659
- Dataset FPS: 10
- Cameras:
observation.images.top,observation.images.wrist - Camera resolution: 640 x 480
- Action/state dimensions: 7 joints
- Task prompts: 15
Task Prompts
Charger Placement
Episodes 0-50. The first four prompt variants cover 10 episodes each; the fifth covers 11 episodes because this block contains one extra recorded charger episode.
| Task Index | Prompt |
|---|---|
| 0 | Pick up the charger and place it into the circular space inside the package. |
| 1 | Place the charger into the circular compartment inside the package. |
| 2 | Move the charger to the round space in the package tray. |
| 3 | Put the charger into its matching circular slot in the box. |
| 4 | Insert the charger into the circular space in the package. |
Cylindrical Tool Placement
Episodes 51-100. Each prompt variant covers 10 episodes.
| Task Index | Prompt |
|---|---|
| 5 | Pick up the cylindrical tool and place it into its matching compartment in the box. |
| 6 | Place the cylindrical tool into its matching compartment in the box. |
| 7 | Move the cylindrical tool to its correct slot in the box. |
| 8 | Put the cylindrical tool into the compartment that matches its shape. |
| 9 | Insert the cylindrical tool into its designated space in the box. |
Rectangular Tool Box Placement
Episodes 101-150. Each prompt variant covers 10 episodes.
| Task Index | Prompt |
|---|---|
| 10 | Pick up the rectangular tool box and place it into the rectangular space in the box. |
| 11 | Place the rectangular tool box into its matching rectangular compartment in the box. |
| 12 | Move the rectangular tool box to the rectangular slot in the box. |
| 13 | Put the rectangular tool box into the correct rectangular space in the package box. |
| 14 | Insert the rectangular tool box into its designated rectangular compartment. |
Notes
Episode indices are zero-based. Human episode 51 corresponds to episode_index=50, which is the extra charger episode noted above.
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Models trained or fine-tuned on manavgoel4/package-pick-place