sarm
Datasets
All datasets matching “sarm”libero_subtask_sarmThis dataset was created using LeRobot.
SARM Subtask Annotations
This is the LIBERO dataset (1693 episodes, 40 tasks) augmented with SARM dense_only subtask annotations. Each episode's high-level task instruction is decomposed into ordered atomic subtasks (from decompositions.json), and a vision-language model (Qwen/Qwen3-VL-8B-Instruct) localizes each subtask in time.
Per-episode columns added to meta/episodes/*.parquet:
dense_subtask_names, dense_subtask_start_times… See the full description on the dataset page: https://huggingface.co/datasets/k1000dai/libero_subtask_sarm.sarmal_test1-1_20260909_155639This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/taichi116/sarmal_test1-1_20260909_155639.sarmal_test1_20260908_190544This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/taichi116/sarmal_test1_20260908_190544.sarmal_test1-2_20260911_154631This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/taichi116/sarmal_test1-2_20260911_154631.SARM-robosuite-can-mh-stages
SARM Robosuite PickPlaceCan (Multi-Human) — Stage-Annotated Dataset
Stage-annotated demonstration dataset for the PickPlaceCan task from robosuite,
formatted in LeRobot v2.1 format for training
SARM (Stage-Aware Reward Models).
Dataset Summary
Property
Value
Task
Pick and place can
Robot
Panda (Franka Emika)
Environment
robosuite PickPlaceCan
Data source
robosuite multi-human (MH) demonstrations
Episodes
300
Total frames
62,756
FPS
20… See the full description on the dataset page: https://huggingface.co/datasets/poolvarine/SARM-robosuite-can-mh-stages.SARM-robosuite-can-mg-stagesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 100,
"total_frames": 15000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/poolvarine/SARM-robosuite-can-mg-stages.