metadata
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
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("abuod0/so101_vla_dataset_v21")
Citation
@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}
}