File size: 1,960 Bytes
9778c58 f080d0a 4741458 9778c58 4741458 9778c58 4741458 9778c58 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 | ---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- vision-language-action
- robotics
- manipulation
configs:
- config_name: default
data_files:
- split: train
path: data/train-*
dataset_info:
features:
- name: observation.state
sequence: float32
- name: action
sequence: float32
- name: episode_index
dtype: int64
- name: frame_index
dtype: int64
- name: timestamp
dtype: float32
- name: next.done
dtype: bool
- name: index
dtype: int64
- name: task_index
dtype: int64
splits:
- name: train
num_bytes: 547591
num_examples: 5944
download_size: 237673
dataset_size: 547591
---
# SO101 VLA Dataset v2.1
This dataset contains 20 episodes of robot demonstrations for the "pick up the black tape" task using the SO101 follower robot.
## Dataset Details
- **Format**: LeRobot v2.1
- **Episodes**: 20
- **Total Frames**: 5,944
- **FPS**: 30
- **Robot Type**: so101_follower
- **Task**: pick up the black tape
## Features
- **Actions**: 6D joint positions (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)
- **States**: 6D joint positions (same as actions)
- **Images**:
- Top camera: 720x1280 RGB
- Wrist camera: 240x320 RGB
- **Actions are UNNORMALIZED** (in degrees)
## Dataset Structure
```
data/chunk-000/episode_XXXXXX.parquet # Per-episode data files
videos/chunk-000/observation.images.top/episode_XXXXXX.mp4
videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4
meta/info.json
meta/episodes.jsonl
meta/tasks.jsonl
meta/episodes_stats.jsonl
```
## Usage
```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("abuod0/so101_vla_dataset_v21")
```
## Citation
```bibtex
@dataset{so101_vla_dataset_v21,
title={SO101 VLA Dataset v2.1},
author={Your Name},
year={2024},
url={https://huggingface.co/datasets/abuod0/so101_vla_dataset_v21}
}
```
|