RoboColosseum/so101-remove-screwdriver

This dataset was created using LeRobot.

Visualize this dataset

The original recorded values are preserved. No MolmoAct2-specific coordinate conversion or normalization has been applied. All episodes are currently in the train split; create episode-level train/validation splits before experiments.

Validation

Episode/frame indexing and finite six-channel state/action arrays passed checks; all 200 videos fully decoded. Video/data frame-count mismatches were found: see the report below. Original files are preserved without trimming or re-encoding. Review camera/action alignment for affected episodes before training. Task success and synchronization have not been visually verified.

[
  {
    "episode_index": 56,
    "camera": "observation.images.front",
    "data_frames": 213,
    "video_frames": 214,
    "last_video_timestamp": 7.1
  },
  {
    "episode_index": 56,
    "camera": "observation.images.wrist",
    "data_frames": 213,
    "video_frames": 352,
    "last_video_timestamp": 11.7
  }
]

Dataset Structure

LeRobot Dataset v3.0: data/ contains Parquet data; videos/ contains per-camera MP4 files; meta/ contains schema, statistics, tasks, and episode boundaries.

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "so_follower",
  "total_episodes": 100,
  "total_frames": 23746,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 30,
  "splits": {
    "train": "0:100"
  },
  "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": {
    "action": {
      "dtype": "float32",
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ],
      "shape": [
        6
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ],
      "shape": [
        6
      ]
    },
    "observation.images.front": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.wrist": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "h264",
        "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
    }
  }
}