| ---
|
| 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](https://github.com/huggingface/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
|
|
|
| ```python
|
| 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:
|
|
|
| ```bibtex
|
| @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}
|
| }
|
| ``` |
