CLARU
justintiensmith2026apache-2.0

Spa-Bench Fine-Tuning Demonstrations (Motion Trimmed)

A motion-trimmed derivative of the canonical 1,200-episode Spa-Bench dataset that removes initial idle prefixes while preserving episode identity, prompt, action/state alignment, and five source camera streams. The dataset contains 570,386 retained frames (6.91% removed) collected at 30 FPS from a single SO-101 robot embodiment.

Downloads156
Episodes1200
Hours5.2814

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
SO-101
Action Space
6-DoF: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
Environment
lab
Task Types
manipulation
Episodes
1200
Total Hours
5.2814
Data Format
parquet
License
apache-2.0
Part of the Spa-Bench Fine-Tuning Demonstrations (Motion Trimmed) family

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