Datasetpublic

Louisnguyen/sft-robo2-data-lift_pot

SFT-Robo2 Expert Data: lift_pot Expert demonstration dataset for the lift_pot task from RoboTwin 2.0, for SFT training of OpenVLA-OFT following SimpleVLA-RL (arXiv:2509.09674). Structure aloha/ - ALOHA-format HDF5 (950 train / 50 val) rlds/ - RLDS/TFDS format (training-ready for OpenVLA-OFT) Details 1000 expert demonstrations via curobo motion planner Single-view (head camera) + proprioception 14D action space (bimanual ALOHA: 7 per arm including… See the full description on the dataset page: https://huggingface.co/datasets/Louisnguyen/sft-robo2-data-lift_pot.

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Dataset Card

SFT-Robo2 Expert Data: lift_pot

Expert demonstration dataset for the lift_pot task from RoboTwin 2.0, for SFT training of OpenVLA-OFT following SimpleVLA-RL (arXiv:2509.09674).

Structure

—aloha/ - ALOHA-format HDF5 (950 train / 50 val)
—rlds/ - RLDS/TFDS format (training-ready for OpenVLA-OFT)

Details

—1000 expert demonstrations via curobo motion planner
—Single-view (head camera) + proprioception
—14D action space (bimanual ALOHA: 7 per arm including gripper)

Associated Model

Louisnguyen/sft-robo2-lift_pot

License

MIT