abuod0/so101_vla_dataset_v21

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}
}