metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
The SO ARM 100 test dataset series is an example dataset for testing purposes. It is a synthetic dataset from a
high-fidelity pick and place task recorded from an expert policy trained in IsaacLab. The dataset consists of image
observations, joint angle observations, and joint angle actions. There are five datasets in the series with varying
degrees of domain randomization, as shown below. In addition to the state randomization, the dataset contains
all the previous randomizations, starting with so_arm_100_image_rnd_2.
| Dataset Name | Randomization |
|---|---|
| so_arm_100_image_no_rnd | No randomizations |
| so_arm_100_image_rnd_1 | Cube table pose |
| so_arm_100_image_rnd_2 | + Plate table position |
| so_arm_100_image_rnd_3 | + Camera pose |
| so_arm_100_image_rnd_4 | + Light intensity |
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "simulated_so_arm_100",
"total_episodes": 50,
"total_frames": 8846,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30.0,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.image": {
"dtype": "image",
"names": [
"channels",
"height",
"width"
],
"shape": [
3,
512,
512
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
]
},
"action": {
"dtype": "float32",
"shape": [
6
]
},
"next.success": {
"dtype": "bool",
"shape": [
1
]
},
"next.reward": {
"dtype": "float32",
"shape": [
1
]
},
"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
}
}
}
Citation
BibTeX:
@inproceedings{nfinite-ds-1,
author = {Miguel Alonso Jr},
editor = {nfinite R&D Team},
title = {nfinite physical AI: SO ARM 100 Test Data},
year = {2025}
}