| # 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] |