Datasets:
episode_index int32 0 102 | step_index int32 0 364 | task stringclasses 6
values | difficulty stringclasses 2
values | instruction stringclasses 6
values | image imagewidth (px) 224 224 | action listlengths 7 7 | proprio listlengths 25 25 | reward float32 0 1 | done bool 1
class |
|---|---|---|---|---|---|---|---|---|---|
0 | 0 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.015787 | false | |
0 | 1 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 2 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 3 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 4 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 5 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 6 | lift_cube | low | Lift the cube clearly off the table. | [
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-0.01149864681065... | 0.044572 | false | |
0 | 7 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 8 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 9 | lift_cube | low | Lift the cube clearly off the table. | [
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-0.0059234... | 0.05538 | false | |
0 | 10 | lift_cube | low | Lift the cube clearly off the table. | [
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-0.003644497832... | 0.058081 | false | |
0 | 11 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 12 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 13 | lift_cube | low | Lift the cube clearly off the table. | [
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-0.00004... | 0.064019 | false | |
0 | 14 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 15 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 16 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 17 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 18 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 19 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0 | 20 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 21 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 22 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 23 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 24 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 25 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 26 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 27 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 28 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 29 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 30 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.073247 | false | |
0 | 31 | lift_cube | low | Lift the cube clearly off the table. | [
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0.000009704579497338273,... | 0.07335 | false | |
0 | 32 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 33 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.073511 | false | |
0 | 34 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.073574 | false | |
0 | 35 | lift_cube | low | Lift the cube clearly off the table. | [
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-... | 0.073627 | false | |
0 | 36 | lift_cube | low | Lift the cube clearly off the table. | [
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0.000020350596969365142... | 0.073671 | false | |
0 | 37 | lift_cube | low | Lift the cube clearly off the table. | [
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-0... | 0.073709 | false | |
0 | 38 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.073741 | false | |
0 | 39 | lift_cube | low | Lift the cube clearly off the table. | [
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0.00002376988595642615,... | 0.073768 | false | |
0 | 40 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
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0.00002460727773723192... | 0.079789 | false | |
0 | 41 | lift_cube | low | Lift the cube clearly off the table. | [
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0.000081009... | 0.092043 | false | |
0 | 42 | lift_cube | low | Lift the cube clearly off the table. | [
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0.000097170021... | 0.106741 | false | |
0 | 43 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
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0.000099751... | 0.122794 | false | |
0 | 44 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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0.0001044... | 0.139697 | false | |
0 | 45 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
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0.0001073... | 0.157105 | false | |
0 | 46 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
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0.000... | 0.174724 | false | |
0 | 47 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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0.0... | 0.192292 | false | |
0 | 48 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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0.0000... | 0.209579 | false | |
0 | 49 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.00009310... | 0.226391 | false | |
0 | 50 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.00... | 0.242575 | false | |
0 | 51 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.000... | 0.258015 | false | |
0 | 52 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.0000812... | 0.272632 | false | |
0 | 53 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.000... | 0.286379 | false | |
0 | 54 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.0... | 0.299236 | false | |
0 | 55 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
-1
] | [
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0.0... | 0.311203 | false | |
0 | 56 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
-1
] | [
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... | 0.322297 | false | |
0 | 57 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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... | 0.332549 | false | |
0 | 58 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.... | 0.341995 | false | |
0 | 59 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.0000... | 0.35068 | false | |
0 | 60 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
0,
-1
] | [
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0.0... | 0.358651 | false | |
0 | 61 | lift_cube | low | Lift the cube clearly off the table. | [
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0... | 0.365955 | false | |
0 | 62 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 63 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 64 | lift_cube | low | Lift the cube clearly off the table. | [
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0.0... | 0.384336 | false | |
0 | 65 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.389436 | false | |
0 | 66 | lift_cube | low | Lift the cube clearly off the table. | [
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0.00... | 0.39409 | false | |
0 | 67 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 68 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 69 | lift_cube | low | Lift the cube clearly off the table. | [
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0... | 0.405747 | false | |
0 | 70 | lift_cube | low | Lift the cube clearly off the table. | [
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0 | 71 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.41191 | false | |
0 | 72 | lift_cube | low | Lift the cube clearly off the table. | [
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0... | 0.414591 | false | |
0 | 73 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.417036 | false | |
0 | 74 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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... | 0.419265 | false | |
0 | 75 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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... | 0.421299 | false | |
0 | 76 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.423154 | false | |
0 | 77 | lift_cube | low | Lift the cube clearly off the table. | [
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0.0... | 0.424847 | false | |
0 | 78 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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... | 0.42639 | false | |
0 | 79 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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... | 0.4278 | false | |
0 | 80 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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0.0000681024685036391... | 0.429093 | false | |
0 | 81 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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0.0... | 0.43028 | false | |
0 | 82 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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0.... | 0.431369 | false | |
0 | 83 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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... | 0.43237 | false | |
0 | 84 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
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... | 0.433288 | false | |
0 | 85 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
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-1
] | [
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... | 0.434131 | false | |
0 | 86 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
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-1
] | [
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... | 0.434905 | false | |
0 | 87 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
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-1
] | [
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... | 0.435616 | false | |
0 | 88 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
0,
-1
] | [
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0.00004820968752028420... | 0.436269 | false | |
0 | 89 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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-1
] | [
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... | 0.436867 | false | |
0 | 90 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
-1
] | [
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... | 0.437417 | false | |
0 | 91 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
0,
0,
-1
] | [
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0 | 99 | lift_cube | low | Lift the cube clearly off the table. | [
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End of preview. Expand in Data Studio
FLock Robotics VLA Training Dataset v2
Expert demonstrations for the FLock Robotics VLA competition task. All trajectories are successful.
Quick start
from datasets import load_dataset
ds = load_dataset("random-sequence/flock-robotics-vla-training-v2")
print(ds["train"][0])
# Keys: episode_index, step_index, task, difficulty, instruction,
# image (PIL), action [7], proprio [25], reward, done
Dataset statistics
| Task | Episodes | Difficulty | Steps |
|---|---|---|---|
| lift_cube | 8 | low | ~1,100 |
| pick_place_can | 20 | low | ~3,800 |
| pick_place_milk | 19 | low | ~3,600 |
| pick_place_bread | 18 | low | ~3,300 |
| pick_place_cereal | 16 | low | ~2,900 |
| stack_blocks | 22 | medium | ~10,600 |
| Total | 103 | 25,328 |
All 103 episodes are 100% successful (success-filtered collection: each episode was retried until success).
Schema
Each row is one timestep:
| Column | Type | Description |
|---|---|---|
episode_index |
int32 | Trajectory ID (0–102) |
step_index |
int32 | Timestep within episode |
task |
string | Task name (e.g. lift_cube) |
difficulty |
string | low or medium |
instruction |
string | Natural language task instruction |
image |
Image | 224×224 RGB agent-view frame |
action |
float32[7] | OSC delta [Δx, Δy, Δz, Δroll, Δpitch, Δyaw, gripper] clipped to [-1, 1] |
proprio |
float32[25] | Robot state: joint pos/vel, EEF pose, gripper |
reward |
float32 | Sparse reward (1.0 at success, 0 otherwise) |
done |
bool | Episode termination flag |
Schema version: robotics_vla_sample_trajectory_v1
Environment
- Simulator: robosuite 1.5.2
- Robot: Panda 7-DOF
- Controller: BASIC composite (OSC_POSE arm + gripper)
- Camera: agentview 224×224
Raw zip
training_traces_v2.zip is also available for backward compatibility. It contains the same data as individual metadata.json + trajectory.npz pairs under trajectories/traj_NNN_<task>_<difficulty>/.
SHA256: e255a52aa0bb9fbf77a6d44ce368e41cb1d2dec184c2e7b6530e83088d772411
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