soarm_pick

SO-ARM (so_follower) によるテレオペ収集データセット。LeRobot 形式 (codebase_version: v3.0)。

Task: Pick up the white sponge and place it on the blue plate.

Dataset structure

Robot type	so_follower
Episodes	40
Frames	27,082
FPS	30
Episode length	mean 677 / min 502 / max 892 frames (約 17–30 秒)
Tasks	1
Splits	train: 0:40

Features

• action — float32[6]: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
• observation.state — float32[6]: 同上
• observation.images.front — video, 480×640×3, AV1 (yuv420p, crf 30, 30 fps)
• observation.images.wrist — video, 480×640×3, AV1 (yuv420p, crf 30, 30 fps)
• timestamp, frame_index, episode_index, index, task_index

meta/stats.json および meta/episodes/ には q01/q99 を含む統計が格納されており、pi0.5 の QUANTILES 正規化に利用可能です。

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("ProxIndustries/soarm_pick")

hf download ProxIndustries/soarm_pick --repo-type dataset --local-dir ./soarm_pick