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Datasets:
ivlabs
/
so101_pick_cube_v2_eef

Tasks:
Robotics
Tags:
LeRobot
so-arm101
so101
gr00t
end-effector
pick-and-place
License:
Dataset card Files
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Dataset Viewer
The dataset viewer is not available for this dataset.
Cannot get the config names for the dataset.
Error code:   ConfigNamesError
Exception:    FileNotFoundError
Message:      Couldn't find any data file at /src/services/worker/ivlabs/so101_pick_cube_v2_eef. Couldn't find 'ivlabs/so101_pick_cube_v2_eef' on the Hugging Face Hub either: FileNotFoundError: Unable to find 'hf://datasets/ivlabs/so101_pick_cube_v2_eef@dc410987b4cbb2589b2db274752896b0a4a2682e/data/chunk-000/episode_0000{00..89}.parquet' with any supported extension ['.csv', '.tsv', '.json', '.jsonl', '.ndjson', '.parquet', '.geoparquet', '.gpq', '.arrow', '.txt', '.tar', '.xml', '.hdf5', '.h5', '.eval', '.lance', '.blp', '.bmp', '.dib', '.bufr', '.cur', '.pcx', '.dcx', '.dds', '.ps', '.eps', '.fit', '.fits', '.fli', '.flc', '.ftc', '.ftu', '.gbr', '.gif', '.grib', '.png', '.apng', '.jp2', '.j2k', '.jpc', '.jpf', '.jpx', '.j2c', '.icns', '.ico', '.im', '.iim', '.tif', '.tiff', '.jfif', '.jpe', '.jpg', '.jpeg', '.mpg', '.mpeg', '.msp', '.pcd', '.pxr', '.pbm', '.pgm', '.ppm', '.pnm', '.psd', '.bw', '.rgb', '.rgba', '.sgi', '.ras', '.tga', '.icb', '.vda', '.vst', '.webp', '.wmf', '.emf', '.xbm', '.xpm', '.BLP', '.BMP', '.DIB', '.BUFR', '.CUR', '.PCX', '.DCX', '.DDS', '.PS', '.EPS', '.FIT', '.FITS', '.FLI', '.FLC', '.FTC', '.FTU', '.GBR', '.GIF', '.GRIB', '.PNG', '.APNG', '.JP2', '.J2K', '.JPC', '.JPF', '.JPX', '.J2C', '.ICNS', '.ICO', '.IM', '.IIM', '.TIF', '.TIFF', '.JFIF', '.JPE', '.JPG', '.JPEG', '.MPG', '.MPEG', '.MSP', '.PCD', '.PXR', '.PBM', '.PGM', '.PPM', '.PNM', '.PSD', '.BW', '.RGB', '.RGBA', '.SGI', '.RAS', '.TGA', '.ICB', '.VDA', '.VST', '.WEBP', '.WMF', '.EMF', '.XBM', '.XPM', '.aiff', '.au', '.avr', '.caf', '.flac', '.htk', '.svx', '.mat4', '.mat5', '.mpc2k', '.ogg', '.paf', '.pvf', '.raw', '.rf64', '.sd2', '.sds', '.ircam', '.voc', '.w64', '.wav', '.nist', '.wavex', '.wve', '.xi', '.mp3', '.opus', '.3gp', '.3g2', '.avi', '.asf', '.flv', '.mp4', '.mov', '.m4v', '.mkv', '.webm', '.f4v', '.wmv', '.wma', '.ogm', '.mxf', '.nut', '.AIFF', '.AU', '.AVR', '.CAF', '.FLAC', '.HTK', '.SVX', '.MAT4', '.MAT5', '.MPC2K', '.OGG', '.PAF', '.PVF', '.RAW', '.RF64', '.SD2', '.SDS', '.IRCAM', '.VOC', '.W64', '.WAV', '.NIST', '.WAVEX', '.WVE', '.XI', '.MP3', '.OPUS', '.3GP', '.3G2', '.AVI', '.ASF', '.FLV', '.MP4', '.MOV', '.M4V', '.MKV', '.WEBM', '.F4V', '.WMV', '.WMA', '.OGM', '.MXF', '.NUT', '.pdf', '.PDF', '.nii', '.NII', '.zip', '.idx', '.manifest', '.txn']
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 66, in compute_config_names_response
                  config_names = get_dataset_config_names(
                                 ^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 161, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                                   ^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 1203, in dataset_module_factory
                  raise FileNotFoundError(
              FileNotFoundError: Couldn't find any data file at /src/services/worker/ivlabs/so101_pick_cube_v2_eef. Couldn't find 'ivlabs/so101_pick_cube_v2_eef' on the Hugging Face Hub either: FileNotFoundError: Unable to find 'hf://datasets/ivlabs/so101_pick_cube_v2_eef@dc410987b4cbb2589b2db274752896b0a4a2682e/data/chunk-000/episode_0000{00..89}.parquet' with any supported extension ['.csv', '.tsv', '.json', '.jsonl', '.ndjson', '.parquet', '.geoparquet', '.gpq', '.arrow', '.txt', '.tar', '.xml', '.hdf5', '.h5', '.eval', '.lance', '.blp', '.bmp', '.dib', '.bufr', '.cur', '.pcx', '.dcx', '.dds', '.ps', '.eps', '.fit', '.fits', '.fli', '.flc', '.ftc', '.ftu', '.gbr', '.gif', '.grib', '.png', '.apng', '.jp2', '.j2k', '.jpc', '.jpf', '.jpx', '.j2c', '.icns', '.ico', '.im', '.iim', '.tif', '.tiff', '.jfif', '.jpe', '.jpg', '.jpeg', '.mpg', '.mpeg', '.msp', '.pcd', '.pxr', '.pbm', '.pgm', '.ppm', '.pnm', '.psd', '.bw', '.rgb', '.rgba', '.sgi', '.ras', '.tga', '.icb', '.vda', '.vst', '.webp', '.wmf', '.emf', '.xbm', '.xpm', '.BLP', '.BMP', '.DIB', '.BUFR', '.CUR', '.PCX', '.DCX', '.DDS', '.PS', '.EPS', '.FIT', '.FITS', '.FLI', '.FLC', '.FTC', '.FTU', '.GBR', '.GIF', '.GRIB', '.PNG', '.APNG', '.JP2', '.J2K', '.JPC', '.JPF', '.JPX', '.J2C', '.ICNS', '.ICO', '.IM', '.IIM', '.TIF', '.TIFF', '.JFIF', '.JPE', '.JPG', '.JPEG', '.MPG', '.MPEG', '.MSP', '.PCD', '.PXR', '.PBM', '.PGM', '.PPM', '.PNM', '.PSD', '.BW', '.RGB', '.RGBA', '.SGI', '.RAS', '.TGA', '.ICB', '.VDA', '.VST', '.WEBP', '.WMF', '.EMF', '.XBM', '.XPM', '.aiff', '.au', '.avr', '.caf', '.flac', '.htk', '.svx', '.mat4', '.mat5', '.mpc2k', '.ogg', '.paf', '.pvf', '.raw', '.rf64', '.sd2', '.sds', '.ircam', '.voc', '.w64', '.wav', '.nist', '.wavex', '.wve', '.xi', '.mp3', '.opus', '.3gp', '.3g2', '.avi', '.asf', '.flv', '.mp4', '.mov', '.m4v', '.mkv', '.webm', '.f4v', '.wmv', '.wma', '.ogm', '.mxf', '.nut', '.AIFF', '.AU', '.AVR', '.CAF', '.FLAC', '.HTK', '.SVX', '.MAT4', '.MAT5', '.MPC2K', '.OGG', '.PAF', '.PVF', '.RAW', '.RF64', '.SD2', '.SDS', '.IRCAM', '.VOC', '.W64', '.WAV', '.NIST', '.WAVEX', '.WVE', '.XI', '.MP3', '.OPUS', '.3GP', '.3G2', '.AVI', '.ASF', '.FLV', '.MP4', '.MOV', '.M4V', '.MKV', '.WEBM', '.F4V', '.WMV', '.WMA', '.OGM', '.MXF', '.NUT', '.pdf', '.PDF', '.nii', '.NII', '.zip', '.idx', '.manifest', '.txn']

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SO-ARM101 Pick Cube — EEF augmented

Fork of ivlabs/so101_pick_cube_v2 augmented with end-effector pose columns and train/validation splits for fine-tuning GR00T N1.7 with a relative-EEF action space.

What's added vs. the source dataset

  • observation.state.eef_9d and action.eef_9d columns in every per-episode parquet — 9-D pose [tx, ty, tz, R[0,:], R[1,:]] computed via SO101 forward kinematics from the joint positions.
  • meta/modality.json mapping GR00T modality keys to the parquet columns (state/action eef + gripper, two cameras, language).
  • Episodes renumbered so LeRobot v2 contiguous splits work:
    • train: "0:90" — 90 episodes
    • validation: "90:100" — 10 episodes (original episode indices [8, 9, 19, 41, 60, 68, 71, 82, 94, 96], picked with numpy.default_rng(42).choice(100, 10, replace=False))
  • original_episode_index preserved per episode in meta/episodes.jsonl and as a new column in every parquet — round-trip back to the source dataset is unambiguous.

stats.json and relative_stats.json are intentionally not shipped — generate them per-split with python gr00t/data/stats.py after downloading.

Layout

LeRobot v2.1, single chunk:

data/chunk-000/episode_0000NN.parquet      # NN ∈ [00..99]
videos/chunk-000/observation.images.{left,right,wrist}/episode_0000NN.mp4
meta/{info.json, episodes.jsonl, episodes_stats.jsonl, tasks.jsonl, modality.json}

Training with GR00T N1.7

See examples/SO101_EEF/README.md in the Isaac-GR00T repo.
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