geonmin-kim/SO101-sample-2

This dataset was created using LeRobot.

Composition

Merged from 11 source datasets (621 episodes / 177661 frames) using lerobot.datasets.aggregate.aggregate_datasets.

Episode indices are assigned in the order listed below.

Category	Source dataset	Episodes	Frames	Episode range
Cat 1. 5cm teleop	geonmin-kim/SO101-lv2-single-cube-to-box-random-layout-5cm	123	38444	0–122
Cat 2. 5cm dagger	geonmin-kim/rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_re_green_sync_0728_1338_20260728_134109	20	3603	123–142
	geonmin-kim/rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_resa_red_sync_0728_1355_20260728_135717	20	3887	143–162
	geonmin-kim/rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_res_blue_sync_0728_1409_20260728_141211	20	3633	163–182
	geonmin-kim/rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_r_yellow_sync_0728_1426_20260728_142859	20	4691	183–202
	geonmin-kim/rollout_dagger_molmoact2_so101_0727_5cm_cube_phase_aware_r_orange_sync_0728_1448_20260728_145014	20	4100	203–222
Cat 3. 2cm teleop	geonmin-kim/SO101-lv2-single-cube-to-box-random-layout-v1	200	70509	223–422
	geonmin-kim/lv2_neartop_emptyupbox	50	13475	423–472
	geonmin-kim/lv1_neartop_upbox	50	14677	473–522
	geonmin-kim/lv3_neartop_multiple_cubes_no_human_reset	50	11736	523–572
Cat 4. 2cm dagger	geonmin-kim/rollout_dagger_molmoact2_so101_lv2_single_cube_to_box_rando_green_sync_0723_1754_20260723_175703	48	8906	573–620
	Total	621	177661	0–620

Notes

• Large cube (5 cm) = categories 1–2, small cube (2 cm) = categories 3–4.
• teleop = human teleoperation, dagger = DAgger rollouts of MolmoAct2 policies with human intervention.
• The 6 dagger sources carry an extra intervention (bool) feature. It was dropped during the merge so all 11 sources share one schema — matching the convention of the earlier merged_* datasets in this namespace.
• Tasks from all sources were unified into 10 task strings (5 colors x large/small cube).

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 621,
    "total_frames": 177661,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:621"
    }
}

Citation

BibTeX:

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