ETHrobotlearning/smolvla_eval2_topview_chunk10_100k-step10000
Robotics • 0.5B • Updated
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action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 14 | frame_index int64 0 219 | episode_index int64 0 1.18k | index int64 0 139k | task_index int64 0 32 |
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End of preview. Expand in Data Studio
tv-task2-clean-aug1_illumination
LeRobot v3 dataset for banana pick-and-place with a SO-101 robot arm.
Built for Vision-Language-Action (VLA / SmolVLA) training.
Dataset summary
| Property | Value |
|---|---|
| Episodes | 1 184 |
| Frames | 139 368 |
| FPS | 10 |
| Task prompts | 33 |
| Robot | SO-101 (so_follower) |
| Camera | Front (480 × 640, AV1) |
| Action space | 6-DoF joint positions |
| Format | LeRobot v3.0 |
Construction
Base: ETHrobotlearning/tv-task2-clean-aug1 (592 episodes, trimmed of idle boundary frames).
Each episode is paired with one illumination-augmented copy (brightness ~ Uniform(0.7, 1.2), seed 42), doubling the dataset to 1 184 episodes.
Task prompts (33)
The dataset covers four referring styles:
Color (direct)
- Put the banana in the red / green / blue bowl.
- Put the banana in the red / green / blue colored bowl.
- Place the banana in the red / green / blue bowl.
- Move the banana to the red / green / blue colored bowl.
Color (negation)
- Put the banana into the bowl that is not red and not blue.
- Put the banana into the bowl that is not red and not green.
- Put the banana into the bowl that is not green and not blue.
Ordinal (robot perspective)
- Put the banana into the 1st / 2nd / 3rd bowl from the left from the robot perspective.
- Put the banana into the left / center / right bowl from the robot perspective.
- Put the banana into the leftmost / rightmost / middle bowl from the robot perspective.
Relative position (robot perspective)
- Put the banana into the bowl on the left / right of the red bowl from the robot perspective.
- Put the banana into the bowl on the left / right of the green bowl from the robot perspective.
- Put the banana into the bowl on the left / right of the blue bowl from the robot perspective.
- Put the banana into the bowl between the blue bowl and the green bowl.
- Put the banana into the bowl between the blue bowl and the red bowl.
- Put the banana into the bowl between the red bowl and the green bowl.
Features
| Feature | Type | Shape |
|---|---|---|
action |
float32 | (6,) — joint positions |
observation.state |
float32 | (6,) — joint positions |
observation.images.front |
video (AV1) | 480 × 640 × 3 |
timestamp |
float32 | (1,) |
frame_index |
int64 | (1,) |
episode_index |
int64 | (1,) |
index |
int64 | (1,) |
task_index |
int64 | (1,) |
Visualization
Browse episodes interactively using the LeRobot visualizer:
For local exploration with tracelr:
huggingface-cli download --repo-type dataset ETHrobotlearning/tv-task2-clean-aug1_illumination --local-dir ./dataset
cargo run --profile opt-dev -- ./dataset
SmolVLA compatibility
lerobot-doctor gate ETHrobotlearning/tv-task2-clean-aug1_illumination --policy smolvla
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