Nfiniteai/so_arm_100_image_rnd_2

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

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "simulated_so_arm_100",
    "total_episodes": 200,
    "total_frames": 31208,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30.0,
    "splits": {
        "train": "0:200"
    },
    "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}
}