zys1030/smolvla-block-rot-sa-70ep-50k
Robotics • 0.5B • Updated • 5
Datasets:
Search is not available for this dataset
observation.state list | action list | diag.deadman_active float32 0 1 ⌀ | diag.safety_intervened float32 0 1 ⌀ | diag.actual_dt_s float32 0.1 0.1 ⌀ | diag.wall_time_s float64 0 28.8 ⌀ | timestamp float32 0 26.2 ⌀ | frame_index int64 0 262 ⌀ | episode_index int64 0 69 ⌀ | index int64 0 14.2k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Shape Pick-and-Place Shared-Autonomy Demonstrations
This repository contains 70 shared-autonomy-assisted demonstrations for the
shape_pick_place_v1 robot-learning task.
The instruction used in every episode is:
Pick up the red cube and place it in the UP region.
Dataset summary
| Property | Value |
|---|---|
| Collection mode | Shared autonomy: human Cartesian translation and gripper control with assisted J6 yaw alignment |
| Episodes | 70 |
| Frames | 14,212 |
| Frame rate | 10 FPS |
| Image streams | External RGB camera and wrist RGB camera |
| Image resolution | 640 × 480 |
| State dimension | 10 |
| Action dimension | 7 |
| Robot type | RM-65 |
| Dataset format | LeRobot v3 |
The dataset contains one task and two RGB video streams per episode. Videos do not contain audio.
Repository layout
data/ Episode data in Parquet format
meta/ Dataset schema, statistics, task, and episode metadata
videos/ RGB observation videos
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(
"zys1030/sharedautonomy-vla-block-rot-sa-70ep",
video_backend="pyav",
)
Intended use and limitations
This dataset is intended for research on robot imitation learning and vision-language-action policies. It represents a fixed laboratory task and should not be interpreted as a broad benchmark for continuous-pose, lighting, camera, object, language, or robot generalization.
The task geometry and evaluation setup are specific to the associated experiment. Physical robot execution requires an independent safety layer, motion limits, and human supervision.
Related resources
- The corresponding expert-only checkpoint is
zys1030/smolvla-block-rot-sa-70ep-50k. - The manual dataset is
zys1030/sharedautonomy-vla-block-rot-manual-70ep.
License
This dataset is licensed under the Creative Commons Attribution 4.0 International License (CC BY 4.0): https://creativecommons.org/licenses/by/4.0/
Attribution: Yun-Sheng Zhao, SharedAutonomy-VLA, 2026. When redistributing or adapting this dataset, provide appropriate credit, link to the license, and indicate whether changes were made. The project code license does not automatically grant rights to this dataset.
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