yuuu94/W2-VLA-Training-Data

World-to-Wrist: LeRobot Training Data

This dataset contains the LeRobot action trajectories paired with the public W2-VLA-CoT annotation release. The files are directly expanded into standard LeRobot directories and can be used after download without an additional archive-extraction step.

W2-VLA-Training-Data/
├── libero/
│   └── <four suites>/{meta,data,videos}/
├── robotwin/
│   └── <50 tasks>/{meta,data,videos}/
└── real_world/
    ├── place_bag/{meta,data,videos}/
    ├── put_mango/{meta,data,videos}/
    ├── table_clean/{meta,data,videos}/
    └── plug_in_socket/{meta,data,videos}/

Split	Datasets	Episodes	Frames
LIBERO	4	1,693	273,465
RoboTwin	50	2,500	549,787
Real world	4	380	220,148
Total	58	4,573	1,043,400

Episode identifiers and frame counts were checked against the matching offline CoT files. The action datasets and CoT annotations are released separately so that text labels can be revised without duplicating videos.

Download

hf download yuuu94/W2-VLA-Training-Data \
  --repo-type dataset \
  --local-dir playground/Datasets/W2-VLA-Training-Data

hf download yuuu94/W2-VLA-CoT \
  --repo-type dataset \
  --local-dir playground/Datasets/W2-VLA-CoT

Configure training with the paired roots:

LIBERO action:     W2-VLA-Training-Data/libero
LIBERO CoT:        W2-VLA-CoT/libero
RoboTwin action:   W2-VLA-Training-Data/robotwin
RoboTwin CoT:      W2-VLA-CoT/robotwin
Real-world action: W2-VLA-Training-Data/real_world
Real-world CoT:    W2-VLA-CoT/real_world

Each task directory provides training-ready LeRobot metadata, parquet data, and videos.

License

This repository contains data from multiple sources. Each component remains subject to its corresponding license. See DATA_LICENSES.md for the component-level terms and attribution requirements.