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Datasets:
abuod0
/
so101_vla_dataset_v21

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
vision-language-action
robotics
manipulation
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
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observation.state
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End of preview. Expand in Data Studio

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 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("abuod0/so101_vla_dataset_v21")

Citation 

@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}
}
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Size of downloaded dataset files:
238 kB
Size of the auto-converted Parquet files:
238 kB
Number of rows:
5,944

Models trained or fine-tuned on abuod0/so101_vla_dataset_v21