Search is not available for this dataset
observation.state list | action list | timestamp float32 0 104 | frame_index int64 0 1.04k | episode_index int64 0 699 | index int64 0 358k | task_index int64 0 6 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
SO101 MA MultiTask 700epi 10fps
This private-first dataset merges seven 100-episode SO101 10 fps datasets into a single LeRobot v3.0 multitask dataset.
Dataset Summary
- Robot:
so_follower - Format: LeRobot v3.0
- Episodes: 700
- Frames: 358,006
- FPS: 10
- Task labels: 7 dataset-level task labels, 100 episodes each
- Required numeric fields:
observation.state[6],action[6] - Required image fields:
observation.images.top,observation.images.left_wrist
Sources
| Task index | Task label | Source |
|---|---|---|
| 0 | ma_stack_RGBblock_on_bluedish |
CoRL2026-CSI/SO101-ma_stack_RGBblock_on_bluedish_10fps |
| 1 | ma_sort_RGBblock_to_matchingplate |
CoRL2026-CSI/SO101-ma_sort_RGBblock_to_matchingplate_10fps |
| 2 | ma_distribute_chocolate_pie_each_plate |
CoRL2026-CSI/SO101-ma_distribute_chocolate_pie_each_plate_10fps |
| 3 | cap_open_topdrawer |
CoRL2026-CSI/SO101-cap_open_topdrawer_10fps |
| 4 | cap_close_pot |
CoRL2026-CSI/SO101-cap_close_pot_10fps |
| 5 | cap_pnp_100ep_baseline |
CoRL2026-CSI/SO101-cap_pnp_100ep_baseline_10fps |
| 6 | cap_place_spoon_between_bread_and_cereal |
CoRL2026-CSI/SO101-cap_place_spoon_between_bread_and_cereal_100epi_10fps |
Schema Normalization
The merge uses a minimal required schema to avoid feature conflicts across source datasets:
- Kept:
observation.state,action,observation.images.top,observation.images.left_wrist,timestamp,frame_index,episode_index,index,task_index - Dropped: optional radian, skill, subtask, end-effector, and gripper helper fields
- Camera mapping for chocolate-pie source:
observation.images.realsense_topview -> observation.images.topandobservation.images.wrist -> observation.images.left_wrist
Video files are copied without re-encoding. Source video codecs are mixed
h264/av1. The cap_close_pot source contains 9 extra unused frames per
video stream; these are preserved from the source while episode intervals still
cover all dataset frames.
Validation
Local validation loaded the merged dataset with LeRobotDataset, checked
700 episodes and 358,006 data frames, verified 100 episodes per task index, and
checked timestamp/frame-index regeneration per episode. It also spot-checked
2,100 merged rows against the normalized source datasets for action,
observation.state, and task_index, and verified both video streams are
10 fps with sufficient episode-interval coverage.
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