Datasets:
language_instruction stringclasses 594
values | actions stringlengths 8.95k 24.8k | length int64 30 79 | tool stringclasses 15
values | grasp_type stringclasses 5
values |
|---|---|---|---|---|
pick up the hammer and hit the nail | [[0.01449664682149887, 0.010752301663160324, 0.01088354829698801, 0.00118204893078655, 0.00399521179497242, 0.004174112342298031, -0.005707156378775835, 0.0035060998052358627, 0.0026005078107118607, 0.0026322505436837673, 0.00028588552959263325, 0.0009662656229920685, 0.0010095337638631463, -0.001380309578962624], [-0.... | 43 | hammer | power_grasp |
grab the screwdriver and tighten the screw | [[0.005936352536082268, -0.002698637545108795, -0.004438344854861498, -0.00041879568016156554, -0.00240524229593575, -0.001055726781487465, -0.018236257135868073, 0.0018690942088142037, -0.0008496813243255019, -0.0013974379980936646, -0.00013186018622945994, -0.0007573041366413236, -0.00033240157063119113, -0.005741789... | 74 | screwdriver | precision_grasp |
use the wrench to loosen the bolt from the toolbox | [[0.011471632868051529, -0.005711101461201906, -0.02119820937514305, 0.007727016694843769, -0.013537338003516197, 0.00022525610984303057, 0.009623817168176174, 0.0035135983489453793, -0.0017492292681708932, -0.006492710672318935, 0.002366675529628992, -0.004146294202655554, 6.899274740135297e-05, 0.0029476385097950697]... | 76 | wrench | power_grasp |
grip the wire with red pliers and pull | [[0.002598298480734229, 0.008467585779726505, -0.017134899273514748, -0.010476144962012768, 0.010980096645653248, 0.011431459337472916, 0.003191443858668208, 0.0010128933936357498, 0.003300914540886879, -0.006679689045995474, -0.004083910025656223, 0.004280365537852049, 0.004456319846212864, 0.0012441189028322697], [0.... | 53 | pliers | pinch_grasp |
pick up scissors and cut the paper on the counter | [[0.005534693598747253, 0.014970372430980206, -0.0018093012040480971, 0.016794346272945404, 0.001290715765208006, -0.006147837266325951, 0.004583314526826143, 0.0019301888532936573, 0.005220821592956781, -0.0006309822201728821, 0.005856920499354601, 0.0004501288349274546, -0.0021440188866108656, 0.0015984015772119164],... | 53 | scissors | precision_grasp |
grab the large knife and slice the bread | [[-0.015523912385106087, -0.005056765861809254, -0.02085036039352417, 0.018484747037291527, 0.004793965723365545, 0.017862191423773766, -0.005159080494195223, -0.002805602503940463, -0.000913898169528693, -0.0037682396359741688, 0.003340707626193762, 0.0008664028719067574, 0.003228194545954466, -0.0009323892300017178],... | 62 | knife | precision_grasp |
take the blue spatula and flip the pancake | [[-0.0005179625586606562, -0.0017953368369489908, 0.007579905446618795, -0.012249873019754887, 0.0007746697519905865, -0.0006457279669120908, -0.012744557112455368, -9.9220807896927e-05, -0.0003439143765717745, 0.001452005235478282, -0.0023465834092348814, 0.0001483955857111141, -0.00012369552860036492, -0.002441344782... | 63 | spatula | hook_grasp |
scoop soup with the ladle | [[0.00890063215047121, 0.005461417604237795, -0.006903357803821564, 0.003257136791944504, 0.0031425112392753363, 0.009841686114668846, -0.008208759129047394, 0.0022511889692395926, 0.0013813269324600697, -0.0017460291273891926, 0.0008238101145252585, 0.0007948184502311051, 0.002489204751327634, -0.0020761971827596426],... | 39 | ladle | hook_grasp |
pick up the brush and paint the wall | [[-0.00024489854695275426, 0.013343707658350468, -0.01427181251347065, -0.002221797127276659, 0.006684702355414629, -0.004588682670146227, 0.0002570144133642316, -8.873309707269073e-05, 0.004834771156311035, -0.005171047989279032, -0.0008050147444009781, 0.0024220410268753767, -0.0016625986900180578, 9.312298789154738e... | 77 | paintbrush | tripod_grasp |
grab the rusty pen and write on the paper on the counter | [[0.0154070183634758, -0.0004530521109700203, 0.013628566637635231, -0.01112466398626566, 0.015184115618467331, 0.007833442650735378, -0.0037769812624901533, 0.005422540474683046, -0.0001594528730493039, 0.004796609748154879, -0.003915354609489441, 0.00534408912062645, 0.0027570005040615797, -0.0013293183874338865], [-... | 54 | pen | tripod_grasp |
hold the large drill and make a hole from the table | [[-0.007263948675245047, 0.005573237780481577, 0.009635252878069878, 0.008493728004395962, -0.004421990364789963, -0.011796525679528713, -0.0042649805545806885, -0.001108789467252791, 0.0008507146267220378, 0.0014707519439980388, 0.0012965063797309995, -0.0006749849999323487, -0.0018006546888500452, -0.0006510185776278... | 33 | drill | power_grasp |
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neon-tool-use-10k
Tool-use with grasp taxonomy — 10K episodes of 14-DoF arm trajectories for tool manipulation.
Description
15 different tools with 5 grasp types (power, precision, pinch, hook, tripod). Each episode has 4 phases: reach → grasp → use (repetitive motion) → release.
Grasp Types
| Type | Tools | Pattern |
|---|---|---|
| Power grasp | hammer, wrench, drill, saw, whisk, broom | Full hand wrap |
| Precision grasp | screwdriver, scissors, knife | Thumb + index + middle |
| Pinch grasp | pliers, tongs | Thumb + index only |
| Hook grasp | spatula, ladle | Curled fingers |
| Tripod grasp | paintbrush, pen | Thumb + 2 fingers |
Part of Neon VLA
Training data for Neon. Total collection: 185K episodes across 10 datasets (~1.5GB)
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