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Sampath-d
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Object_picking

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
10K - 100K
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LeRobot
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Dask
Polars
License:
Dataset card Data Studio Files
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@@ -18,152 +18,26 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  </a>
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- ## Dataset Description
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- - **Homepage:** [More Information Needed]
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- - **Paper:** [More Information Needed]
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- - **License:** apache-2.0
 
 
 
 
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- ## Dataset Structure
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- [meta/info.json](meta/info.json):
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- ```json
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- {
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- "codebase_version": "v3.0",
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- "robot_type": "so_follower",
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- "total_episodes": 60,
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- "total_frames": 47175,
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- "total_tasks": 4,
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- "chunks_size": 1000,
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- "data_files_size_in_mb": 100,
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- "video_files_size_in_mb": 200,
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- "fps": 30,
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- "splits": {
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- "train": "0:60"
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- },
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- "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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- "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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- "features": {
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- "action": {
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- "dtype": "float32",
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- "names": [
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- "shoulder_pan.pos",
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- "shoulder_lift.pos",
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- "elbow_flex.pos",
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- "wrist_flex.pos",
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- "wrist_roll.pos",
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- "gripper.pos"
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- ],
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- "shape": [
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- 6
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- ]
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- },
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- "observation.state": {
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- "dtype": "float32",
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- "names": [
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- "shoulder_pan.pos",
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- "shoulder_lift.pos",
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- "elbow_flex.pos",
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- "wrist_flex.pos",
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- "wrist_roll.pos",
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- "gripper.pos"
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- ],
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- "shape": [
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- 6
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- ]
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- },
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- "observation.images.top": {
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- "dtype": "video",
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- "shape": [
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- 480,
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- 640,
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- 3
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- ],
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- "names": [
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- "height",
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- "width",
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- "channels"
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- ],
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- "info": {
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- "video.height": 480,
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- "video.width": 640,
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- "video.codec": "h264",
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- "video.pix_fmt": "yuv420p",
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- "video.is_depth_map": false,
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- "video.fps": 30,
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- "video.channels": 3,
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- "has_audio": false
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- }
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- },
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- "observation.images.wrist": {
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- "dtype": "video",
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- "shape": [
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- 480,
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- 640,
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- 3
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- ],
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- "names": [
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- "height",
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- "width",
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- "channels"
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- ],
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- "info": {
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- "video.height": 480,
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- "video.width": 640,
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- "video.codec": "h264",
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- "video.pix_fmt": "yuv420p",
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- "video.is_depth_map": false,
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- "video.fps": 30,
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- "video.channels": 3,
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- "has_audio": false
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- }
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- },
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- "timestamp": {
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- "dtype": "float32",
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- "shape": [
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- 1
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- ],
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- "names": null
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- },
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- "frame_index": {
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- "dtype": "int64",
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- "shape": [
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- 1
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- ],
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- "names": null
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- },
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- "episode_index": {
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- "dtype": "int64",
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- "shape": [
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- 1
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- ],
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- "names": null
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- },
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- "index": {
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- "dtype": "int64",
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- "shape": [
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- 1
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- ],
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- "names": null
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- },
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- "task_index": {
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- "dtype": "int64",
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- "shape": [
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- 1
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- ],
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- "names": null
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- }
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- }
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- }
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- ```
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- ## Citation
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- **BibTeX:**
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-
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- ```bibtex
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- [More Information Needed]
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- ```
 
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  </a>
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+ # XLe SO-101 Object Picking
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+ Real-world object-picking dataset for **fine-tuning [allenai/MolmoAct2-SO100_101](https://huggingface.co/allenai/MolmoAct2-SO100_101)** on an **SO-101 follower arm mounted on XLeRobot**.
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+ Stored in **LeRobot v3.0** format.
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+ * **Episodes:** 60
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+ * **Frames:** 47,175
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+ * **FPS:** 30
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+ * **Resolution:** 640 × 480 RGB
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+ * **Cameras:** Top + Wrist
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+ * **State / Action:** 6 SO-101 joint positions
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+ * **Tasks:** 4
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+ The dataset contains synchronized camera observations, robot states, and actions collected from real SO-101 demonstrations on XLeRobot.
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+ ### Base Checkpoint
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ [allenai/MolmoAct2-SO100_101](https://huggingface.co/allenai/MolmoAct2-SO100_101)
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+ ### Format
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+ LeRobot v3.0 with Parquet data, episode/task metadata, statistics, and encoded camera videos.