qvla-v1-corpus

The pretraining corpus of AXIS-Bench (https://github.com/axis-bench/axis-bench): 5,000 simulated Franka demonstrations of 731 tasks, recorded on the AXIS data engine.

• episodes/task_<id>/ - each task's episodes (LeRobot format) and task metadata.
• lerobot_merged/ - the same episodes merged into one LeRobot dataset, for the SmolVLA and X-VLA lines.
• index/ - the frame index (the episode ranges and roots the pretraining runs read).
• signals/ and SIGNALS.lock.json - the precomputed quality signals and their digests.
• bundles/ - the compiled labels of the paper's pretraining runs.
• norm_stats/ - the pretraining normalisation statistics.
• traces_sample/ - the raw traces of 21 tasks, for relabelling with a new reward.

Fetch what a goal needs with qvla data get corpus --include ... or qvla data get traces-sample (AXIS-Bench README). Licence: CC BY 4.0 (LICENSE).