---
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](https://github.com/huggingface/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](meta/info.json):
```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

```python
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

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