Datasets:

00maker
/

lerobot_demo1

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so101
  - manipulation
  - teleoperation
configs:
  - config_name: default
    data_files: data/*/*.parquet

LeRobot Demo1 Dataset

This dataset was collected using the LeRobot framework with an SO-101 Follower robot arm. It contains teleoperation demonstrations of a pick-and-place manipulation task.

Task

Grab the black wristband to the blue yo-yo ball — The robot arm picks up a black wristband and moves it to a blue yo-yo ball.

Dataset Details

Property	Value
Robot	SO-101 Follower (6-DOF)
Codebase Version	v2.1
Total Episodes	30
Total Frames	8,199
FPS	30
Cameras	2 (handeye + front)
Video Resolution	640 × 480
Video Codec	AV1

Features

action — float32[6] — Joint position commands: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
observation.state — float32[6] — Current joint positions (same joints as action)
observation.images.handeye — Hand-eye camera video (480×640, AV1)
observation.images.front — Front camera video (480×640, AV1)
timestamp — Frame timestamp in seconds
frame_index / episode_index / index / task_index — Indexing fields

Dataset Structure

├── data/chunk-000/          # Parquet files (one per episode)
├── videos/chunk-000/
│   ├── handeye/             # Hand-eye camera videos (.mp4)
│   └── front/               # Front camera videos (.mp4)
└── meta/
    ├── info.json            # Dataset metadata
    ├── episodes.jsonl       # Episode lengths & tasks
    ├── tasks.jsonl          # Task descriptions
    └── stats.json           # Feature statistics

Usage

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("towwwwwwww/lerobot_demo1")

# Access a frame
frame = dataset[0]
print(frame["observation.state"])  # tensor of shape (6,)
print(frame["action"])             # tensor of shape (6,)

Citation

If you use this dataset, please cite the LeRobot project:

@misc{cadene2024lerobot,
  author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and others},
  title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
  year = {2024},
  url = {https://github.com/huggingface/lerobot}
}