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224
| eef_pos
sequence | eef_rot_axis_angle
sequence | gripper_width
float32 0.01
0.09
| demo_start_pose
sequence | actions
sequence | episode_start_idx
int64 0
76.1k
| episode_end_idx
int64 1.22k
77.2k
| timestamp
float32 0
20.7
| frame_index
int64 0
1.24k
| episode_index
int64 0
66
| index
int64 0
77.2k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
Datasets for OneTwoVLA
[Project Page] | [Paper] | [Code]
This repository provides datasets collected with the UMI, converted into the LeRobot data format, along with synthetic vision-language data used in the paper OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning.
The robot data covers two main tasks:
- Cocktail
- Open-World Visual Grounding
Dataset Folders
cocktail
Contains 299 real-world demonstrations collected in the lab, each with reasoning annotations.wild_move_to
Includes both real robot data and synthetic vision-language data for the Open-World Visual Grounding task. The robot data consists of 932 demonstrations across 16 environments, featuring about 180 unique objects. The vision-language portion contains 6,000 synthetic images, augmented with fisheye distortion and/or a composited robot gripper. Reasoning annotations are available here.wild_move_to_no_vl
This is the same as wild_move_to, but without the synthetic vision-language data.open_world_visual_grounding_vl_data.tar.gz
Contains the 6,000 synthetic images ({0...5999}.png) and corresponding reasoning annotation files ({0...5999}_gemini.txt).
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