Datasets:
language_instruction stringclasses 120
values | actions stringlengths 19.8k 62.6k | length int32 40 119 | nav_phase_length int32 12 71 | manip_phase_length int32 17 84 |
|---|---|---|---|---|
walk to the kitchen table and pick up the cup | [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.009565443731844425, 0.008370152674615383, 0.03026389144361019, -0.017416546121239662, -0.015747852623462677, -0.017132079228758812, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5623782277107239, -0.02722199261188507, -0.12526251375675201... | 54 | 28 | 26 |
navigate to the shelf and grab the book | [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.009387691505253315, -0.03574300557374954, 0.008314382284879684, -0.021530576050281525, 0.02713947370648384, -0.020158834755420685, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5575868487358093, 0.190216526389122, -0.024606607854366302], ... | 82 | 25 | 57 |
go to the fridge, open it, and take out the bottle | [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.012875974178314209, 0.011470446363091469, -0.014666994102299213, 0.0089179752394557, -0.027654660865664482, 0.015108158811926842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6276412010192871, 0.19669704139232635, -0.2563974857330322], [... | 61 | 31 | 30 |
walk around the red table and push the chair in | [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.026800205931067467, 0.04258948937058449, 0.020911728963255882, 0.019375426694750786, -0.033460333943367004, 0.05074383690953255, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4635223150253296, 0.1560228168964386, -0.2494192123413086], [0... | 75 | 43 | 32 |
move to the small workbench and pick up the wrench | "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.003536453237757086(...TRUNCATED) | 112 | 60 | 52 |
approach the counter and wipe it with the cloth | "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.002938851015642285(...TRUNCATED) | 94 | 36 | 58 |
navigate to the red couch, pick up the cushion, and place it on the chair | "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.02655605040490627(...TRUNCATED) | 95 | 46 | 49 |
walk to the door, open it, and step through | "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0205799862742424,(...TRUNCATED) | 44 | 16 | 28 |
go to the desk, sit down, and pick up the pen | "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.05886963009834289(...TRUNCATED) | 79 | 30 | 49 |
stride to the sink, turn on the faucet, and wash hands | "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.02448383904993534,(...TRUNCATED) | 110 | 33 | 77 |
End of preview. Expand in Data Studio
neon-wholebody-nav-15k
Whole-body navigation + manipulation — 15K episodes of 32-DoF joint trajectories combining locomotion and arm control.
Description
Each episode has two phases:
- Navigation phase: Walking/turning with sinusoidal gait (locomotion commands active, arms swing naturally)
- Manipulation phase: Arms execute task while legs maintain stance (locomotion stops)
Smooth phase blending ensures realistic transitions from walking to reaching.
Tasks include:
- Walk to location AND pick up object
- Navigate through space AND interact
- Locomotion + bimanual coordination
Each episode contains:
language_instruction: Natural language task with navigation + manipulationactions: JSON array of joint trajectories (T × 32: 29 body + 3 locomotion)nav_phase_length: Timesteps in navigation phasemanip_phase_length: Timesteps in manipulation phase
Part of Neon VLA
Training data for Neon — open-source Vision-Language-Action model for humanoid whole-body control.
Total Neon dataset collection: 175K episodes across 9 datasets (~1.4GB)
- Downloads last month
- 25