Spa-Bench/spa-bench-training-teleoperation-1200
Spa-Bench teleoperated training dataset — 1,200 episodes Open this dataset in the LeRobot visualizer This is the full-length, five-camera teleoperated demonstration dataset used for Spa-Bench adaptation experiments. The native Hugging Face Data Studio viewer is enabled through the Parquet files declared above. Dataset summary Field Value Episodes 1,200 Frames 612,733 Duration at 30 FPS approximately 5.7 hours Unique instruction strings 321 Task… See the full description on the dataset page: https://huggingface.co/datasets/Spa-Bench/spa-bench-training-teleoperation-1200.
Spa-Bench teleoperated training dataset — 1,200 episodes
Open this dataset in the LeRobot visualizer
This is the full-length, five-camera teleoperated demonstration dataset used for Spa-Bench adaptation experiments. The native Hugging Face Data Studio viewer is enabled through the Parquet files declared above.
Dataset summary
The task families are Counting, Ordinal Position, Physical State, Referential Description, Relational Placement, and Relative Size. The benchmark withholds selected concept–argument combinations while retaining exposure to their constituent concepts, objects, and broad manipulation behavior.
Training-design records and the 1,200-row prompt manifest are in `spa-bench-data-information`.
Dataset structure
This is a LeRobot v3 dataset at 30 FPS. Each frame contains an episode index, frame index, timestamp, task index, six-dimensional observation state, six-dimensional action, and synchronized 480×640 RGB observations. The evaluated policies use the middle and wrist views; all five views are retained here.
Uses, limitations, and safety
This dataset is not representative of general homes or unconstrained manipulation. It uses one SO-101 embodiment, one workspace, one collection setup, a limited object set, and English instructions. Robot data and learned policies can enable unsafe motion; use hardware safeguards and direct human supervision.
Double-blind release note
Author, institution, source-repository, and archival citation details are intentionally omitted during review. They will be restored in the archival release.