task_categories:
- robotics
size_categories:
- 100K<n<1M
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).