Question about used dataset for training
Hi, thanks for sharing this project and checkpoints.
I am trying to reproduce the results of your work and also want to adapt to another variants further. Can i ask you if the training dataset for this checkpoint that you mentioned in the paper is here: https://huggingface.co/datasets/IPEC-COMMUNITY/fractal20220817_data_lerobot or something else.
Thank you!
Hi! We use the original fractal dataset in RLDs format: https://robotics-transformer-x.github.io/.
https://huggingface.co/datasets/IPEC-COMMUNITY/fractal20220817_data_lerobot is the converted Lerobot version, which is more flexible and efficient in training.
Hence, the Lerobot dataset is recommended if you're reproducing SpatialVLA results or developing your model. I'll also release all the code in the Lerobot training in the next few weeks.
Thank you so much for your answer!