File size: 1,637 Bytes
2adb037 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 | # So100 Synthetic Robot Dataset
This dataset contains synthetic robot pose estimation data for the LeRobot So100 arm.
## Dataset Structure
```
synth_dataset/
├── data/
│ └── chunk-000/
│ └── episode_000000.parquet # Robot joint positions and metadata
├── videos/
│ └── chunk-000/
│ └── observation.images.main/
│ └── episode_000000.mp4 # RGB video frames
└── meta/
├── episodes_stats.jsonl # Episode statistics
├── episodes.jsonl # Episode metadata
├── info.json # Dataset information
└── tasks.jsonl # Task definitions
```
## Dataset Information
- **Robot Type**: LeRobot So100 arm
- **Number of Frames**: 348
- **Video Format**: MP4 (24 FPS)
- **Data Format**: Parquet files containing joint positions and metadata
- **Source**: Synthetic video with inferred motor positions from trained pose estimation model
## Usage
This dataset can be used for:
- Robot pose estimation training and evaluation
- Joint angle prediction from RGB images
- Synthetic-to-real transfer learning
- Robot manipulation research
## Generation Process
1. **Input**: Synthetic RGB video of So100 arm movements
2. **Model**: Trained HoRoPose model (DepthNet + Full Network)
3. **Inference**: Joint angle predictions for each frame
4. **Dataset Creation**: Combined video frames with predicted joint positions
## Citation
If you use this dataset in your research, please cite the original HoRoPose paper and this dataset.
## License
[Add your license information here] |