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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- so101 |
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- vision-language-action |
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- robotics |
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- manipulation |
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configs: |
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- config_name: default |
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data_files: |
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- split: train |
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path: data/train-* |
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dataset_info: |
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features: |
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- name: observation.state |
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sequence: float32 |
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- name: action |
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sequence: float32 |
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- name: episode_index |
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dtype: int64 |
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- name: frame_index |
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dtype: int64 |
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- name: timestamp |
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dtype: float32 |
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- name: next.done |
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dtype: bool |
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- name: index |
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dtype: int64 |
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- name: task_index |
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dtype: int64 |
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splits: |
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- name: train |
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num_bytes: 547591 |
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num_examples: 5944 |
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download_size: 237673 |
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dataset_size: 547591 |
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--- |
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# SO101 VLA Dataset v2.1 |
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This dataset contains 20 episodes of robot demonstrations for the "pick up the black tape" task using the SO101 follower robot. |
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## Dataset Details |
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- **Format**: LeRobot v2.1 |
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- **Episodes**: 20 |
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- **Total Frames**: 5,944 |
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- **FPS**: 30 |
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- **Robot Type**: so101_follower |
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- **Task**: pick up the black tape |
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## Features |
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- **Actions**: 6D joint positions (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos) |
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- **States**: 6D joint positions (same as actions) |
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- **Images**: |
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- Top camera: 720x1280 RGB |
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- Wrist camera: 240x320 RGB |
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- **Actions are UNNORMALIZED** (in degrees) |
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## Dataset Structure |
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``` |
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data/chunk-000/episode_XXXXXX.parquet # Per-episode data files |
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videos/chunk-000/observation.images.top/episode_XXXXXX.mp4 |
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videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4 |
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meta/info.json |
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meta/episodes.jsonl |
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meta/tasks.jsonl |
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meta/episodes_stats.jsonl |
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``` |
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## Usage |
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```python |
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from lerobot.datasets.lerobot_dataset import LeRobotDataset |
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dataset = LeRobotDataset("abuod0/so101_vla_dataset_v21") |
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``` |
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## Citation |
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```bibtex |
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@dataset{so101_vla_dataset_v21, |
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title={SO101 VLA Dataset v2.1}, |
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author={Your Name}, |
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year={2024}, |
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url={https://huggingface.co/datasets/abuod0/so101_vla_dataset_v21} |
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} |
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``` |
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