ganatrask/NOVA
Robotics • 3B • Updated
• 39
Datasets:
Search is not available for this dataset
index int64 0 11.6k | episode_index int64 0 99 | frame_index int64 0 131 | timestamp float64 0.21 18.8 | task_index int64 0 23 | next.done bool 2 classes | observation.state listlengths 7 7 | action listlengths 8 8 |
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End of preview. Expand
in Data Studio
NOVA Dataset - Reachy 2 Pick-and-Place Demonstrations
Expert demonstration dataset for training vision-language-action models on Pollen Robotics' Reachy 2 humanoid robot. Collected in MuJoCo simulation with domain randomization.
Dataset Description
This dataset contains 100 episodes of pick-and-place manipulation tasks, designed for fine-tuning NVIDIA GR00T N1.6 or other imitation learning policies.
Key Features
| Feature | Description |
|---|---|
| Format | LeRobot v2.1 (parquet + H264 video) |
| Episodes | 100 |
| Task Variations | 32 (4 objects × 8 colors) |
| Camera Views | 2 (front_cam, workspace_cam) |
| Resolution | 640×480 @ 15 FPS |
| Domain Randomization | Position, lighting, camera jitter |
Task Description
The robot performs pick-and-place tasks with natural language instructions:
- "Pick up the red cube and place it in the box"
- "Pick up the blue cylinder and place it in the box"
- "Pick up the green capsule and place it in the box"
Dataset Structure
NOVA/
├── meta/
│ ├── info.json # Dataset metadata
│ ├── stats.json # Normalization statistics
│ ├── tasks.jsonl # Task descriptions
│ └── episodes.jsonl # Episode information
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ └── ...
└── videos/
└── chunk-000/
├── observation.images.front_cam/
│ ├── episode_000000.mp4
│ └── ...
└── observation.images.workspace_cam/
├── episode_000000.mp4
└── ...
Data Fields
State (Proprioception)
| Field | Dimension | Description |
|---|---|---|
observation.state |
7 | Joint positions (arm) |
Joint Names:
shoulder_pitch(-180° to 90°)shoulder_roll(-180° to 10°)elbow_yaw(-90° to 90°)elbow_pitch(-125° to 0°)wrist_roll(-100° to 100°)wrist_pitch(-45° to 45°)wrist_yaw(-30° to 30°)
Action
| Field | Dimension | Description |
|---|---|---|
action |
8 | Joint positions (7 arm + 1 gripper) |
Gripper: 0 = closed, 1 = open
Video
| Camera | Resolution | FOV | Format |
|---|---|---|---|
front_cam |
640×480 | 108° | H264 MP4 |
workspace_cam |
640×480 | 70° | H264 MP4 |
Language
| Field | Description |
|---|---|
annotation.human.task_description |
Natural language task instruction |
Objects and Colors
Objects (4 types)
- Cube (4cm)
- Rectangular box
- Cylinder
- Capsule
Colors (8 variations)
- Red, Green, Blue, Yellow
- Cyan, Magenta, Orange, Purple
Domain Randomization
| Parameter | Range |
|---|---|
| Object position | Workspace-aware random |
| Lighting intensity | 0.5 - 1.0 |
| Camera jitter | ±2° |
| Object type | Random selection |
| Object color | Random selection |
Usage
Loading with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("ganatrask/NOVA")
# Access an episode
episode = dataset[0]
print(episode.keys())
# ['observation.state', 'observation.images.front_cam', 'action', ...]
Loading with HuggingFace Datasets
from datasets import load_dataset
dataset = load_dataset("ganatrask/NOVA")
Training GR00T
python -m gr00t.train \
--dataset_repo_id ganatrask/NOVA \
--embodiment_tag reachy2 \
--video_backend decord \
--num_gpus 2 \
--batch_size 64 \
--max_steps 30000
Collection Details
Environment
- Simulator: MuJoCo via reachy2_mujoco
- Robot: Reachy 2 humanoid (14-DOF arms, using right arm only)
- Control Frequency: 15 Hz
Collection Process
- Random object and color selection
- Random placement within workspace
- Scripted expert policy execution
- Recording of observations, states, and actions
- Automatic episode segmentation
Collection Command
python scripts/data_collector.py \
--episodes 100 \
--output reachy2_dataset \
--arm right \
--randomize-object \
--randomize-color \
--cameras front_cam workspace_cam
Statistics
| Statistic | Value |
|---|---|
| Total episodes | 100 |
| Avg. episode length | ~150 steps |
| Collection rate | ~2 episodes/min |
| Total size | ~2 GB |
Limitations
- Simulation only: Data collected in MuJoCo, not real robot
- Single arm: Right arm manipulation only
- Fixed task type: Pick-and-place only
- Limited objects: 4 primitive shapes
License
This dataset is released under CC-BY-4.0.
Citation
@misc{nova_dataset_2025,
title={NOVA Dataset: Reachy 2 Pick-and-Place Demonstrations},
author={ganatrask},
year={2025},
publisher={HuggingFace},
url={https://huggingface.co/datasets/ganatrask/NOVA}
}
Acknowledgments
- Pollen Robotics - Reachy 2 robot and MuJoCo simulation
- HuggingFace - LeRobot framework and dataset hosting
- DeepMind - MuJoCo physics engine
Related Resources
- Model: ganatrask/NOVA - Fine-tuned GR00T model
- Code: ganatrask/NOVA - Training and inference code
- Base Model: nvidia/GR00T-N1.6-3B
- LeRobot: huggingface/lerobot
- Downloads last month
- 14
Size of downloaded dataset files:
2.35 MB
Size of the auto-converted Parquet files:
2.35 MB
Number of rows:
11,601
Models trained or fine-tuned on ganatrask/NOVA