qinghangliu/PAL

PAL grounded subgoal training dataset This repository contains 94,372 multimodal robot subgoal training samples from 16 tasks and all 768,897 PNG frames from the 1,600 source episodes. The JSONL directly references 240,855 of these images; the other 528,042 frames are also included so self-labeling can construct windows and four-step null-fill queries at timesteps absent from the original JSONL. Images are distributed as 32 lossless tar.zst archives: 16 original referenced-image… See the full description on the dataset page: https://huggingface.co/datasets/qinghangliu/PAL.

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