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Datasets:
hzxie
/
DOM

Tasks:
Robotics
Size:
100K<n<1M
ArXiv:
Tags:
lerobot
franka
dynamic
visual-language-action
vla
License:
Dataset card Files
xet
 Community
Dataset Viewer
The dataset viewer is not available for this dataset.
Cannot get the config names for the dataset.
Error code:   RetryableConfigNamesError
Exception:    HfHubHTTPError
Message:      504 Server Error: Gateway Time-out for url: https://huggingface.co/api/datasets/hzxie/DOM/tree/bbf6baa15f7253746d271a6e958e037afa537b1e?recursive=True&expand=False
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 66, in compute_config_names_response
                  config_names = get_dataset_config_names(
                                 ^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 161, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                                   ^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 1207, in dataset_module_factory
                  raise e1 from None
                File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 1182, in dataset_module_factory
                  ).get_module()
                    ^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 638, in get_module
                  patterns = get_data_patterns(base_path, download_config=self.download_config)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/data_files.py", line 493, in get_data_patterns
                  return _get_data_files_patterns(resolver)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/data_files.py", line 290, in _get_data_files_patterns
                  data_files = pattern_resolver(pattern)
                               ^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/data_files.py", line 372, in resolve_pattern
                  for filepath, info in fs.glob(fs_pattern, detail=True, **glob_kwargs).items():
                                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 521, in glob
                  return super().glob(path, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/fsspec/spec.py", line 604, in glob
                  allpaths = self.find(root, maxdepth=depth, withdirs=True, detail=True, **kwargs)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 563, in find
                  out = self._ls_tree(path, recursive=True, refresh=refresh, revision=resolved_path.revision, **kwargs)
                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 446, in _ls_tree
                  self._ls_tree(
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 463, in _ls_tree
                  for path_info in tree:
                                   ^^^^
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_api.py", line 3140, in list_repo_tree
                  for path_info in paginate(path=tree_url, headers=headers, params={"recursive": recursive, "expand": expand}):
                                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/utils/_pagination.py", line 37, in paginate
                  hf_raise_for_status(r)
                File "/usr/local/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 482, in hf_raise_for_status
                  raise _format(HfHubHTTPError, str(e), response) from e
              huggingface_hub.errors.HfHubHTTPError: 504 Server Error: Gateway Time-out for url: https://huggingface.co/api/datasets/hzxie/DOM/tree/bbf6baa15f7253746d271a6e958e037afa537b1e?recursive=True&expand=False

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Dynamic Object Manipulation (DOM)

Project Page | Paper | Code

TL;DR: DOM is a large-scale dynamic manipulation dataset with 200K episodes, 2,800+ scenes, and 206 objects for training and evaluating VLA models.

Introduction

The Dynamic Object Manipulation (DOM) benchmark is designed to address the challenges of rapid perception and temporal anticipation in robotics. It includes:

  • 200K synthetic episodes across 2,800+ scenes and 206 objects.
  • Support for evaluating VLA models in dynamic scenarios requiring continuous control and closed-loop adaptation.

Citation

If you find this dataset or the DynamicVLA framework useful for your research, please cite:

@article{xie2026dynamicvla,
  title     = {DynamicVLA: A Vision-Language-Action Model for 
               Dynamic Object Manipulation},
  author    = {Xie, Haozhe and 
               Wen, Beichen and 
               Zheng, Jiarui and 
               Chen, Zhaoxi and 
               Hong, Fangzhou icon, 
               Diao, Haiwen and 
               Liu, Ziwei},
  journal   = {arXiv preprint arXiv:2601.22153},
  year      = {2026}
}

Changelog

  • [2026/04/26] The dataset is released.
  • [2026/01/31] The repo is created.
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