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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- icrt
- franka
- pi_0
- multitask
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** [https://ottervla.github.io/](https://ottervla.github.io/)
- **Paper:** [https://huggingface.co/papers/2503.03734](https://huggingface.co/papers/2503.03734)
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.0",
    "robot_type": "panda",
    "total_episodes": 1417,
    "total_frames": 166855,
    "total_tasks": 33,
    "total_videos": 0,
    "total_chunks": 2,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:1417"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "exterior_image_1_left": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image_left": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_position"
            ]
        },
        "gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_position"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "actions"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```

## Citation

**BibTeX:**

```bibtex
@article{huang2025otter,
    title={Otter: A Vision-Language-Action Model with Text-Aware Feature Extraciton}, 
    author={Huang Huang and Fangchen Liu and Letian Fu and Tingfan Wu and Mustafa Mukadam and Jitendra Malik and Ken Goldberg and Pieter Abbeel},
    journal={arXiv preprint arXiv:2503.03734},
    year={2025}
}
```