README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - lerobot
  - so101_follower
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Description

A robot manipulation dataset for imitation learning, compatible with LeRobot v3.0 format.

• Robot Type: so101_follower
• Total Episodes: 1
• Total Frames: 804
• FPS: 30
• Codebase Version: v3.0

Features

Feature	Shape	Type
observation.state	[6]	float32
action	[6]	float32
observation.images.realsense	[480, 640, 3]	video
observation.images.innomaker	[480, 640, 3]	video

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "so101_follower",
  "total_episodes": 1,
  "total_frames": 804,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 30,
  "splits": {
    "train": "0:1"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ]
    },
    "observation.images.realsense": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.innomaker": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    }
  }
}

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

# Load the dataset
dataset = LeRobotDataset("CSI-Agent/test3")

# Access a sample
sample = dataset[0]
print(sample.keys())

Citation

@misc{test3,
  title = {test3},
  year = {2025},
  publisher = {Hugging Face},
  howpublished = {\url{https://huggingface.co/datasets/CSI-Agent/test3}}
}