Hugging Face's logo

Datasets:
you2who
/
pusht2-teleop-v30

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Libraries:
Datasets
Dask
Polars
Dataset card Data Studio Files
xet
 Community
2
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
observation.state
listlengths
2
2
⌀
action
listlengths
2
2
⌀
timestamp
float32
0
29.5
⌀
next.reward
float32
0
0.5
⌀
next.done
bool
2 classes
next.success
bool
2 classes
frame_index
int64
0
295
⌀
episode_index
int64
0
239
⌀
index
int64
0
42.7k
⌀
task_index
int64
0
0
⌀
[ 365.7908935546875, 215.43507385253906 ]
[ 365, 218 ]
0
0
false
false
0
0
0
0
[ 363.20526123046875, 217.873291015625 ]
[ 373, 216 ]
0.1
0
false
false
1
0
1
0
[ 366.02813720703125, 217.59564208984375 ]
[ 372, 186 ]
0.2
0
false
false
2
0
2
0
[ 368.8912353515625, 208.0421142578125 ]
[ 350, 152 ]
0.3
0
false
false
3
0
3
0
[ 363.96722412109375, 187.93505859375 ]
[ 320, 135 ]
0.4
0
false
false
4
0
4
0
[ 348.847412109375, 166.0307159423828 ]
[ 280, 136 ]
0.5
0
false
false
5
0
5
0
[ 323.5812072753906, 151.26429748535156 ]
[ 250, 143 ]
0.6
0
false
false
6
0
6
0
[ 294.1473388671875, 145.49624633789062 ]
[ 219, 146 ]
0.7
0
false
false
7
0
7
0
[ 263.7384033203125, 144.741455078125 ]
[ 211, 157 ]
0.8
0
false
false
8
0
8
0
[ 239.78311157226562, 148.4282989501953 ]
[ 203, 167 ]
0.9
0
false
false
9
0
9
0
[ 223.05604553222656, 155.29183959960938 ]
[ 196, 169 ]
1
0
false
false
10
0
10
0
[ 210.97537231445312, 161.41580200195312 ]
[ 183, 172 ]
1.1
0
false
false
11
0
11
0
[ 199.70059204101562, 166.0668487548828 ]
[ 162, 172 ]
1.2
0
false
false
12
0
12
0
[ 185.44033813476562, 168.9964599609375 ]
[ 150, 177 ]
1.3
0
false
false
13
0
13
0
[ 170.7599639892578, 172.01962280273438 ]
[ 143, 180 ]
1.4
0
false
false
14
0
14
0
[ 158.6107177734375, 175.27120971679688 ]
[ 126, 193 ]
1.5
0
false
false
15
0
15
0
[ 145.8856658935547, 181.40098571777344 ]
[ 110, 209 ]
1.6
0
false
false
16
0
16
0
[ 131.6434326171875, 191.5408477783203 ]
[ 80, 187 ]
1.7
0
false
false
17
0
17
0
[ 112.37892150878906, 193.27606201171875 ]
[ 60, 203 ]
1.8
0
false
false
18
0
18
0
[ 91.1346206665039, 195.62246704101562 ]
[ 55, 259 ]
1.9
0
false
false
19
0
19
0
[ 74.62248992919922, 215.453857421875 ]
[ 96, 318 ]
2
0
false
false
20
0
20
0
[ 76.9347152709961, 252.8643035888672 ]
[ 146, 353 ]
2.1
0
false
false
21
0
21
0
[ 99.77568817138672, 293.9092102050781 ]
[ 179, 352 ]
2.2
0
false
false
22
0
22
0
[ 130.91879272460938, 322.22418212890625 ]
[ 195, 344 ]
2.3
0
false
false
23
0
23
0
[ 158.68748474121094, 335.09521484375 ]
[ 209, 336 ]
2.4
0
false
false
24
0
24
0
[ 180.68206787109375, 337.7592468261719 ]
[ 213, 326 ]
2.5
0
false
false
25
0
25
0
[ 195.8253936767578, 334.36798095703125 ]
[ 215, 314 ]
2.6
0
false
false
26
0
26
0
[ 205.07742309570312, 327.0282897949219 ]
[ 222, 302 ]
2.7
0
false
false
27
0
27
0
[ 212.204833984375, 317.35577392578125 ]
[ 231, 292 ]
2.8
0
false
false
28
0
28
0
[ 219.6432647705078, 307.0707702636719 ]
[ 238, 279 ]
2.9
0
false
false
29
0
29
0
[ 227.16336059570312, 295.9497375488281 ]
[ 240, 269 ]
3
0
false
false
30
0
30
0
[ 233.00083923339844, 284.8563232421875 ]
[ 244, 252 ]
3.1
0
false
false
31
0
31
0
[ 237.6771697998047, 272.14404296875 ]
[ 246, 236 ]
3.2
0
false
false
32
0
32
0
[ 241.36044311523438, 257.79736328125 ]
[ 245, 222 ]
3.3
0
false
false
33
0
33
0
[ 243.36061096191406, 243.1893310546875 ]
[ 245, 213 ]
3.4
0
false
false
34
0
34
0
[ 244.2468719482422, 230.2806396484375 ]
[ 247, 214 ]
3.5
0
false
false
35
0
35
0
[ 245.24185180664062, 222.1121368408203 ]
[ 305, 249 ]
3.6
0
false
false
36
0
36
0
[ 263.2177734375, 228.26084899902344 ]
[ 347, 176 ]
3.7
0
false
false
37
0
37
0
[ 294.6800842285156, 215.8317413330078 ]
[ 312, 89 ]
3.8
0
false
false
38
0
38
0
[ 309.13995361328125, 172.45870971679688 ]
[ 266, 76 ]
3.9
0
false
false
39
0
39
0
[ 298.2631530761719, 129.77328491210938 ]
[ 247, 90 ]
4
0
false
false
40
0
40
0
[ 278.2625732421875, 107.3039321899414 ]
[ 234, 99 ]
4.1
0
false
false
41
0
41
0
[ 259.4661865234375, 100.46469116210938 ]
[ 224, 102 ]
4.2
0
false
false
42
0
42
0
[ 244.06031799316406, 100.01741027832031 ]
[ 213, 102 ]
4.3
0
false
false
43
0
43
0
[ 230.9370574951172, 100.78144836425781 ]
[ 200, 105 ]
4.4
0
false
false
44
0
44
0
[ 218.3372344970703, 102.24961853027344 ]
[ 195, 107 ]
4.5
0
false
false
45
0
45
0
[ 207.99508666992188, 104.12516021728516 ]
[ 189, 108 ]
4.6
0
false
false
46
0
46
0
[ 199.78781127929688, 105.79974365234375 ]
[ 182, 109 ]
4.7
0
false
false
47
0
47
0
[ 192.41818237304688, 107.17644500732422 ]
[ 175, 110 ]
4.8
0.5
false
false
48
0
48
0
[ 185.28990173339844, 108.36686706542969 ]
[ 168, 113 ]
4.9
0
false
false
49
0
49
0
[ 178.24008178710938, 110.05062866210938 ]
[ 168, 113 ]
5
0
false
false
50
0
50
0
[ 173.28878784179688, 111.4394760131836 ]
[ 168, 113 ]
5.1
0
false
false
51
0
51
0
[ 170.5908660888672, 112.22779083251953 ]
[ 179, 102 ]
5.2
0
false
false
52
0
52
0
[ 172.4923553466797, 109.3763427734375 ]
[ 145, 78 ]
5.3
0
false
false
53
0
53
0
[ 165.3092041015625, 98.95271301269531 ]
[ 106, 79 ]
5.4
0
false
false
54
0
54
0
[ 144.6881103515625, 89.54695892333984 ]
[ 89, 85 ]
5.5
0
false
false
55
0
55
0
[ 121.6009292602539, 85.99103546142578 ]
[ 75, 127 ]
5.6
0
false
false
56
0
56
0
[ 101.6292724609375, 97.62151336669922 ]
[ 85, 160 ]
5.7
0
false
false
57
0
57
0
[ 91.53424835205078, 120.66087341308594 ]
[ 99, 183 ]
5.8
0
false
false
58
0
58
0
[ 91.91329193115234, 146.04840087890625 ]
[ 119, 190 ]
5.9
0
false
false
59
0
59
0
[ 100.77012634277344, 165.9793701171875 ]
[ 137, 192 ]
6
0
false
false
60
0
60
0
[ 114.51013946533203, 178.5496063232422 ]
[ 152, 194 ]
6.1
0
false
false
61
0
61
0
[ 129.63235473632812, 185.9999237060547 ]
[ 164, 202 ]
6.2
0
false
false
62
0
62
0
[ 143.9658966064453, 192.4420928955078 ]
[ 180, 216 ]
6.3
0
false
false
63
0
63
0
[ 158.44163513183594, 201.18812561035156 ]
[ 198, 227 ]
6.4
0
false
false
64
0
64
0
[ 174.1483154296875, 211.446533203125 ]
[ 219, 236 ]
6.5
0
false
false
65
0
65
0
[ 191.8135223388672, 221.57974243164062 ]
[ 239, 244 ]
6.6
0
false
false
66
0
66
0
[ 210.75927734375, 230.93966674804688 ]
[ 254, 248 ]
6.7
0
false
false
67
0
67
0
[ 228.79598999023438, 238.47686767578125 ]
[ 270, 253 ]
6.8
0
false
false
68
0
68
0
[ 245.7869415283203, 244.66517639160156 ]
[ 282, 259 ]
6.9
0
false
false
69
0
69
0
[ 261.0770263671875, 250.51760864257812 ]
[ 292, 260 ]
7
0
false
false
70
0
70
0
[ 274.2455139160156, 254.91604614257812 ]
[ 305, 265 ]
7.1
0
false
false
71
0
71
0
[ 286.7754211425781, 258.9490661621094 ]
[ 312, 266 ]
7.2
0
false
false
72
0
72
0
[ 297.6552734375, 262.1562194824219 ]
[ 308, 267 ]
7.3
0
false
false
73
0
73
0
[ 303.516357421875, 264.37066650390625 ]
[ 236, 259 ]
7.4
0
false
false
74
0
74
0
[ 284.6938171386719, 263.3200378417969 ]
[ 205, 200 ]
7.5
0
false
false
75
0
75
0
[ 253.56202697753906, 243.9931182861328 ]
[ 225, 144 ]
7.6
0
false
false
76
0
76
0
[ 236.24179077148438, 207.3407745361328 ]
[ 263, 130 ]
7.7
0
false
false
77
0
77
0
[ 241.01295471191406, 173.3215789794922 ]
[ 291, 146 ]
7.8
0
false
false
78
0
78
0
[ 258.8099060058594, 156.6551055908203 ]
[ 311, 159 ]
7.9
0
false
false
79
0
79
0
[ 279.8193054199219, 154.344970703125 ]
[ 317, 173 ]
8
0
false
false
80
0
80
0
[ 296.6207580566406, 160.1430206298828 ]
[ 322, 191 ]
8.1
0
false
false
81
0
81
0
[ 308.2504577636719, 171.35386657714844 ]
[ 329, 206 ]
8.2
0
false
false
82
0
82
0
[ 317.20068359375, 185.0397186279297 ]
[ 334, 223 ]
8.3
0
false
false
83
0
83
0
[ 324.4730529785156, 200.12094116210938 ]
[ 343, 235 ]
8.4
0
false
false
84
0
84
0
[ 331.8171691894531, 214.65956115722656 ]
[ 347, 245 ]
8.5
0
false
false
85
0
85
0
[ 338.368896484375, 227.50875854492188 ]
[ 350, 259 ]
8.6
0
false
false
86
0
86
0
[ 343.49468994140625, 240.1922149658203 ]
[ 354, 269 ]
8.7
0
false
false
87
0
87
0
[ 347.8923034667969, 252.21444702148438 ]
[ 357, 275 ]
8.8
0
false
false
88
0
88
0
[ 351.75323486328125, 262.1546936035156 ]
[ 359, 281 ]
8.9
0
false
false
89
0
89
0
[ 354.908203125, 270.2574768066406 ]
[ 360, 287 ]
9
0
false
false
90
0
90
0
[ 357.2186279296875, 277.3016357421875 ]
[ 359, 289 ]
9.1
0
false
false
91
0
91
0
[ 358.3102722167969, 282.6217956542969 ]
[ 359, 290 ]
9.2
0
false
false
92
0
92
0
[ 358.7099914550781, 286.1011962890625 ]
[ 360, 278 ]
9.3
0
false
false
93
0
93
0
[ 359.1673889160156, 284.523681640625 ]
[ 330, 229 ]
9.4
0
false
false
94
0
94
0
[ 350.6873779296875, 267.1943054199219 ]
[ 260, 237 ]
9.5
0
false
false
95
0
95
0
[ 320.6062927246094, 252.05462646484375 ]
[ 216, 274 ]
9.6
0
false
false
96
0
96
0
[ 279.5425720214844, 255.2025146484375 ]
[ 213, 313 ]
9.7
0
false
false
97
0
97
0
[ 248.21945190429688, 274.7711486816406 ]
[ 237, 368 ]
9.8
0
false
false
98
0
98
0
[ 237.5264434814453, 308.792724609375 ]
[ 256, 388 ]
9.9
0
false
false
99
0
99
0
End of preview. Expand in Data Studio

AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models

This dataset is used in the paper AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models.

Dataset Description

This dataset contains teleoperation trajectories for the PushT2 environment, a variant of the PushT task. It was used to evaluate AR-VLA, an autoregressive Action Expert that generates actions as a continuous causal sequence while maintaining history through a long-lived memory.

Usage

The dataset is compatible with the LeRobot library. To train an Auto Regressive Transformer (ART) policy on this dataset, you can use the following command (ensuring the external policy package lerobot_policy_art from the official repository is installed):

lerobot-train \
  --policy.discover_packages_path=lerobot_policy_art \
  --policy.type=art \
  --dataset.repo_id=you2who/pusht2-teleop-v30 \
  --env.type=pusht \
  --env.task=PushT2-v0 \
  --steps=200000 \
  --batch_size=64

Note: If you override action chunking or history settings, ensure that history_length + chunk_size is aligned with the dataset window.
Downloads last month
37
Number of rows:
42,943
Total file size:
12 MB

Paper for you2who/pusht2-teleop-v30