Expert demonstration dataset for the pick_dual_bottles task from RoboTwin 2.0, for SFT training of OpenVLA-OFT following SimpleVLA-RL (arXiv:2509.09674).
aloha/ - ALOHA-format HDF5 (950 train / 50 val)
rlds/ - RLDS/TFDS format (training-ready for OpenVLA-OFT)
1000 expert demonstrations via curobo motion planner
Single-view (head camera) + proprioception
14D action space (bimanual ALOHA: 7 per arm… See the full description on the dataset page:
https://huggingface.co/datasets/Louisnguyen/sft-robo2-data-pick_dual_bottles.
