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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- so101
+- vision-language-action
+- robotics
+- manipulation
+dataset_info:
+  features:
+    - name: observation.state
+      sequence: float32
+    - name: action
+      sequence: float32
+    - name: timestamp
+      dtype: float32
+    - name: frame_index
+      dtype: int64
+    - name: episode_index
+      dtype: int64
+    - name: index
+      dtype: int64
+    - name: task_index
+      dtype: int64
+    - name: observation.images.top
+      dtype: video
+    - name: observation.images.wrist
+      dtype: video
+  splits:
+    - name: train
+      num_bytes: 356000
+      num_examples: 5944
+---
+
+# 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}
+}
+```
+