dataset
sd
Lusmse
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Overview
Name
sd
Source
Lusmse
Episodes
0
Robot count
0
Format
lerobot
Description
Capstone VLA Datasets
LeRobot v2.1 datasets for a liquid pouring task on a KuavoV4Pro
humanoid robot (34-DOF, bimanual). Used to benchmark GR00T N1.6,
pi0.5, and Diffusion Policy under varying real-to-synthetic data ratios.
Mixture Configurations
Dataset
Type
Episodes
human
unknown
200
Dataset Structure (LeRobot v2.1)
<dataset>/
├── meta/
│ ├── info.json
│ ├── tasks.jsonl
│ ├── episodes.jsonl
│ └── stats.safetensors
├── data/
│ └──… See the full description on the dataset page: https://huggingface.co/datasets/Lusmse/sd.
Robots used
null
Links
HuggingFace dataset