Datasets:

cagataydev
/

vlm-voice-commands

id stringlengths 10 10	text stringlengths 4 109	category stringclasses 10 values	difficulty stringclasses 3 values	voice stringclasses 8 values	word_count int64 1 23
vlm_000000	Pick up the black jar and then place it on the box	multistep	hard	NATF0	12
vlm_000001	Please sweep the fridge	household	medium	NATM1	4
vlm_000002	Take the path through the left side of the table	navigation	medium	NATF1	10
vlm_000003	Trace a line from the sponge to the book	spatial	medium	NATM2	9
vlm_000004	Hey, the pot goes on the hallway	pick_place	medium	NATM1	7
vlm_000005	Could you halt	safety	easy	NATM1	3
vlm_000006	Hey, prepare a snack	household	medium	NATM1	4
vlm_000007	Alright, pull the brush towards you	manipulation	medium	NATM0	6
vlm_000008	Prepare a snack	household	medium	NATM1	3
vlm_000009	Take the glass and put it on the living room	pick_place	medium	NATF2	10
vlm_000010	Hurry up and fold the laundry and put it in the kitchen	household	medium	NATM2	12
vlm_000011	Set the napkin down steady	pick_place	medium	NATF0	5
vlm_000012	Wipe the table, then set down the tape and the pot right now	multistep	hard	NATM1	13
vlm_000013	Would you mind repeat the last command	conversational	easy	NATM1	7
vlm_000014	Would you mind stop immediately	safety	easy	NATM1	5
vlm_000015	Please return to your starting position	navigation	medium	NATM3	6
vlm_000016	Okay what just changed in the scene	observation	medium	NATF0	7
vlm_000017	Hurry up and crumple the wrapper	manipulation	medium	NATM1	6
vlm_000018	Move closer to the rack	navigation	medium	NATM1	5
vlm_000019	Clear everything from the bag and organize it in the box, okay?	multistep	hard	NATM1	12
vlm_000020	Move the pan to the fridge	pick_place	medium	NATM1	6
vlm_000021	Pick up each hammer on the table and place them all in the rack	multistep	hard	NATF2	14
vlm_000022	Could you put everything back where it was	pick_place	medium	NATF2	8
vlm_000023	Cancel that	safety	easy	NATM1	2
vlm_000024	Screw the cap on tight	manipulation	medium	NATF2	5
vlm_000025	Back up a little	navigation	medium	NATM0	4
vlm_000026	Pick the sphere up fast please	pick_place	medium	NATM1	6
vlm_000027	Careful, that's hot	safety	easy	NATM3	3
vlm_000028	Okay why did you choose that approach	conversational	easy	NATM1	7
vlm_000029	Would you mind great now do the next one	conversational	easy	NATM1	9
vlm_000030	How many bowls are on my hand	observation	medium	NATF3	7
vlm_000031	Hey, is there a knife on the basket	observation	medium	NATF2	8
vlm_000032	Flip the page over	manipulation	medium	NATM1	4
vlm_000033	Keep the gripper level while moving to the microwave	spatial	medium	NATM1	9
vlm_000034	Please navigate to the hallway	navigation	medium	NATM0	5
vlm_000035	Would you mind picking up the plate and then place it on the center of the table	multistep	hard	NATM3	17
vlm_000036	Would you mind sweep the workbench	household	medium	NATF0	6
vlm_000037	Would you mind walk to the docking station	navigation	medium	NATM1	8
vlm_000038	Pull the spoon towards you	manipulation	medium	NATM1	5
vlm_000039	Hang the bag on the center of the table	manipulation	medium	NATF3	9
vlm_000040	Would you mind lift the yellow can off the surface	pick_place	medium	NATM1	10
vlm_000041	Hey, stir the contents of the cup	manipulation	medium	NATM1	7
vlm_000042	Actually do this instead	conversational	easy	NATF2	4
vlm_000043	Pick the tape up slowly please	pick_place	medium	NATF2	6
vlm_000044	Please stack the gold paper on top of the tissue	pick_place	medium	NATM1	10
vlm_000045	The one I pointed at	context_rich	hard	NATM2	5
vlm_000046	Can you explore my hand	navigation	medium	NATM1	5
vlm_000047	The container with the lid	context_rich	hard	NATM1	5
vlm_000048	Move to the docking station, okay?	navigation	medium	NATF2	6
vlm_000049	Could you sort the objects by color	pick_place	medium	NATM1	7
vlm_000050	Move the pencil out of the way, then grab the fork behind it	multistep	hard	NATM0	13
vlm_000051	Okay take the marker and put it on the storage area	pick_place	medium	NATM1	11
vlm_000052	Hurry up and pick up the orange towel, rotate it 180 degrees, and set it back down	multistep	hard	NATM3	17
vlm_000053	Hurry up and good job	conversational	easy	NATF3	5
vlm_000054	Put it over there, got it?	context_rich	hard	NATM0	6
vlm_000055	Hey, set the black clip down carefully	pick_place	medium	NATM1	7
vlm_000056	What's the closest object to you	observation	medium	NATF3	6
vlm_000057	Pick up the keyboard and then place it on the bedroom	multistep	hard	NATM1	11
vlm_000058	Could you set the table for dinner	household	medium	NATM1	7
vlm_000059	Look at the ball and describe it	observation	medium	NATM1	7
vlm_000060	Pour juice into the glass, then bring it to me	multistep	hard	NATF2	10
vlm_000061	Okay pick up the red key with your gripper	pick_place	medium	NATM1	9
vlm_000062	The similar one as before	context_rich	hard	NATM1	5
vlm_000063	Take the cloth and put it on the bin, got it?	pick_place	medium	NATM2	11
vlm_000064	Okay pick up all the knifes one by one and sort them by color	multistep	hard	NATF2	14
vlm_000065	Please power down	safety	easy	NATM1	3
vlm_000066	Extend your reach towards the desk	spatial	medium	NATF2	6
vlm_000067	Can you roll the jar towards me	manipulation	medium	NATM3	7
vlm_000068	Bring me a cup of coffee	household	medium	NATM1	6
vlm_000069	Approach the toy from below	spatial	medium	NATF2	5
vlm_000070	Can you don't move	safety	easy	NATF1	4
vlm_000071	Would you mind close the fridge	manipulation	medium	NATM2	6
vlm_000072	Would you mind fold the cloth	manipulation	medium	NATF0	6
vlm_000073	Squeeze the bottle	manipulation	medium	NATM1	3
vlm_000074	Please take the apple to the hallway and then come back for the cloth	multistep	hard	NATF2	14
vlm_000075	Please go around the cube	navigation	medium	NATM0	5
vlm_000076	Hurry up and plug in the cable	manipulation	medium	NATF3	7
vlm_000077	Please I need the blue ruler from the fridge	pick_place	medium	NATM3	9
vlm_000078	Alright, read what's written on the screen	observation	medium	NATM1	7
vlm_000079	Pick up the yellow charger, rotate it 180 degrees, and set it back down, okay?	multistep	hard	NATF0	15
vlm_000080	Could you rotate the ball 45 degrees	manipulation	medium	NATM1	7
vlm_000081	Do it one more time	conversational	easy	NATM1	5
vlm_000082	Hey, what do you see on the bedroom	observation	medium	NATM1	8
vlm_000083	Pick up the white notebook, rotate it 180 degrees, and set it back down	multistep	hard	NATF3	14
vlm_000084	Hey, raise your arm higher	spatial	medium	NATF0	5
vlm_000085	Okay open the drawer, take out the apple, and close it	multistep	hard	NATM2	11
vlm_000086	Hurry up and grab the towel from the edge of the table	pick_place	medium	NATF2	12
vlm_000087	Take the orange screwdriver to the table and then come back for the tissue	multistep	hard	NATF1	14
vlm_000088	Please pick up the dark sponge with your gripper	pick_place	medium	NATM1	9
vlm_000089	Could you make the bed	household	medium	NATM1	5
vlm_000090	Okay measure the distance to the remote	observation	medium	NATF1	7
vlm_000091	Unplug the device	manipulation	medium	NATM1	3
vlm_000092	Hurry up and hold that position	spatial	medium	NATF1	6
vlm_000093	Set the table for dinner	household	medium	NATM0	5
vlm_000094	Pour juice into the cup, then bring it to me	multistep	hard	NATM1	10
vlm_000095	Could you flatten the bag	manipulation	medium	NATM1	5
vlm_000096	Twist the lid to the right, quickly	manipulation	medium	NATM1	7
vlm_000097	Close the lid	manipulation	medium	NATM1	3
vlm_000098	Please continue	safety	easy	NATF2	2
vlm_000099	Hey, find the cup, show it to me, then put it away	multistep	hard	NATM1	12

End of preview. Expand in Data Studio

🎙️ VLM Robotics Voice Commands (Text)

50,000 curated natural language commands for Vision-Language-Model robot control.

This dataset contains diverse text commands that humans would speak to a robot, covering 10 categories of embodied interaction.

🎯 Purpose

Training VLMs to understand spoken robot instructions
TTS source for generating audio training data
Benchmark for robot language understanding
Coverage of the full spectrum of human→robot speech

📊 Statistics

Metric	Value
Total Commands	50,000
Categories	10
Avg Word Count	8.8 words
Language	English
Unique	100% (deduplicated)

Category Distribution

Category	Count	%	Examples
pick_place	18,570	37.1%	"Pick up the red cube", "Bring me the bottle"
multistep	8,464	16.9%	"Open the drawer, take the cup, close it"
manipulation	5,557	11.1%	"Pour water into the glass", "Fold the towel"
navigation	5,178	10.4%	"Go to the kitchen", "Turn left"
observation	5,008	10.0%	"What do you see?", "Count the objects"
spatial	3,506	7.0%	"Move arm left 5cm", "Lower the gripper"
household	1,937	3.9%	"Clean the table", "Set table for dinner"
safety	839	1.7%	"Stop!", "Be careful"
conversational	519	1.0%	"Good job", "Try again"
context_rich	422	0.8%	"Grab that", "The one I pointed at"

🏗️ Schema

Column	Type	Description
uid=503(cagatay) gid=20(staff) groups=20(staff),101(access_bpf),12(everyone),61(localaccounts),79(_appserverusr),80(admin),81(_appserveradm),98(_lpadmin),702(com.apple.sharepoint.group.2),33(_appstore),100(_lpoperator),204(_developer),250(_analyticsusers),395(com.apple.access_ftp),398(com.apple.access_screensharing),399(com.apple.access_ssh),400(com.apple.access_remote_ae),701(com.apple.sharepoint.group.1)	string	Unique ID (vlm_000000 format)
	string	The voice command text
	string	Command category
	string	easy / medium / hard
	string	Suggested TTS voice (NATM0-3, NATF0-3)
	int	Number of words

🗣️ Natural Variations

Commands include natural speech patterns:

Polite: "Could you pick up the cup?"
Casual: "Hey, grab that"
Urgent: "Stop right now!"
Questioning: "Can you reach that?"
Compound: "Pick it up and bring it to me, okay?"

📝 Difficulty Levels

Level	Description	Example
Easy	Single simple action, safety	"Stop", "Good job"
Medium	Standard pick/place/nav	"Pick up the red cube"
Hard	Multi-step, context-dependent	"Find the cup, show me, put it away"