Datasets:
File size: 4,914 Bytes
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"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 180,
"total_frames": 79434,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:180"
},
"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.main": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"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
}
},
"task1_all_raw_merge": {
"description": "Raw merge of all collected Task1 SO101 pickup episodes. No prompt or lighting augmentation.",
"source_datasets": [
{
"name": "task1_20260509",
"repo_id": "ethrl2026/so101_pickup_20260509_173953_task1",
"episode_blocks": [
{
"target_color": "blue",
"count": 20
},
{
"target_color": "red",
"count": 20
},
{
"target_color": "green",
"count": 20
}
]
},
{
"name": "task1_extra_20260512",
"repo_id": "ethrl2026/so101_pickup_20260512_173830_task1_extra",
"episode_blocks": [
{
"target_color": "blue",
"count": 10
},
{
"target_color": "red",
"count": 10
},
{
"target_color": "green",
"count": 10
}
]
},
{
"name": "task1_extra2_20260515",
"repo_id": "ethrl2026/so101_pickup_20260515_200119_task1_extra2",
"episode_blocks": [
{
"target_color": "blue",
"count": 30
},
{
"target_color": "red",
"count": 30
},
{
"target_color": "green",
"count": 30
}
]
}
],
"target_color_assignment_note": "Target labels are assigned from the user-provided episode block order, not from source task_index values. This intentionally normalizes task_index to blue=0, red=1, green=2.",
"image_stats_note": "Action/state/index stats are recomputed. Image stats are copied from the first source dataset."
}
}
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