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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- lerobot |
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- so101_follower |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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A robot manipulation dataset for imitation learning, compatible with **LeRobot v3.0** format. |
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- **Robot Type:** so101_follower |
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- **Total Episodes:** 30 |
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- **Total Frames:** 27606 |
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- **FPS:** 30 |
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- **Codebase Version:** v3.0 |
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### Features |
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| Feature | Shape | Type | |
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|---------|-------|------| |
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| observation.state | [6] | float32 | |
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| action | [6] | float32 | |
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| observation.images.realsense | [480, 640, 3] | video | |
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| observation.images.innomaker | [480, 640, 3] | video | |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v3.0", |
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"robot_type": "so101_follower", |
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"total_episodes": 30, |
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"total_frames": 27606, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 200, |
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"fps": 30, |
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"splits": { |
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"train": "0:30" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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"features": { |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"shoulder_pan.pos", |
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"shoulder_lift.pos", |
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"elbow_flex.pos", |
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"wrist_flex.pos", |
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"wrist_roll.pos", |
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"gripper.pos" |
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] |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"shoulder_pan.pos", |
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"shoulder_lift.pos", |
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"elbow_flex.pos", |
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"wrist_flex.pos", |
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"wrist_roll.pos", |
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"gripper.pos" |
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] |
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}, |
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"observation.images.realsense": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.innomaker": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Usage |
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```python |
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from lerobot.datasets.lerobot_dataset import LeRobotDataset |
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# Load the dataset |
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dataset = LeRobotDataset("CSI-Agent/test2") |
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# Access a sample |
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sample = dataset[0] |
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print(sample.keys()) |
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``` |
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## Citation |
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```bibtex |
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@misc{test2, |
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title = {test2}, |
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year = {2025}, |
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publisher = {Hugging Face}, |
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howpublished = {\url{https://huggingface.co/datasets/CSI-Agent/test2}} |
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} |
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``` |
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