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Datasets:
Hungdd88
/
smolvla_handover_multitasks

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
lerobot
smolvla
manipulation
handover
human-robot-interaction
ur3e
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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Upload SmolVLA Handover Multitasks LeRobot dataset (v3.0, 248 episodes)

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Files changed (19) hide show
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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - lerobot
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+ - smolvla
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+ - manipulation
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+ - handover
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+ - human-robot-interaction
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+ - ur3e
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+ configs:
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+ - config_name: default
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+ data_files:
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+ - split: train
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+ path: data/*/*.parquet
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+ ---
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+
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+ # SmolVLA Handover Multitasks Dataset
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+
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+ This dataset contains multimodal demonstration trajectories for human-robot interaction and object handover tasks using a UR3e robot equipped with a 2-finger gripper in PyBullet simulation. It is formatted in **LeRobotDataset v3.0** format, designed for training Vision-Language-Action (VLA) models such as SmolVLA / OpenVLA.
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+
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+ ## Dataset Summary
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+
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+ - **Total Episodes**: 248
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+ - **Total Frames**: 17,641
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+ - **Control Rate**: 20 FPS (0.05s per timestep)
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+ - **Robot**: Universal Robots UR3e with 2-finger gripper
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+ - **Observations**:
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+ - `observation.images.camera1`: High-resolution external angled overview camera (224x224, AV1 video)
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+ - `observation.images.camera2`: Top-down workspace overview camera (224x224, AV1 video)
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+ - `observation.images.camera3`: End-effector wrist-mounted camera (224x224, AV1 video)
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+ - `observation.state`: 6-DoF robot joint positions + gripper state
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+ - **Actions**: 7-DoF delta end-effector pose `[dx, dy, dz, droll, dpitch, dyaw, gripper]`
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+ - **Tasks & Instructions**:
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+ - `handover_direct`: Direct object handover to the human receiving hand
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+ - `handover_cube_to_human`: Full table pick and handover with dynamic human reaching gestures
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+ - `lift_cube`: Object pick-and-lift task
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