Datasetpublic

io-intelligence/so101_stack_cups

This dataset was created using LeRobot. Dataset Description SO-101 (so_follower) teleoperation dataset for stacking cups. Contains 660 episodes / 188035 frames at 30 FPS, with three RGB cameras (observation.images.front, observation.images.top, observation.images.wrist) and 6-DoF joint state/action. Task prompt: "Stack the cups". Stored in LeRobot v3.0 format. Homepage: https://huggingface.co/datasets/io-intelligence/so101_stack_cups Paper: [More Information Needed]… See the full description on the dataset page: https://huggingface.co/datasets/io-intelligence/so101_stack_cups.

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face

0likes230downloads

rootREADME.md

README.md216 linesDownload Raw Back to root

1---2license: apache-2.03task_categories:4- robotics5tags:6- LeRobot7- so1018- so_follower9- manipulation10- stack_cups11configs:12- config_name: default13  data_files: data/*/*.parquet14---15 16This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).17 18 19<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=io-intelligence/so101_stack_cups">20<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>21<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>22</a>23 24<video src="https://huggingface.co/datasets/io-intelligence/so101_stack_cups/resolve/main/inference_demo.mp4" controls autoplay loop muted playsinline width="270"></video>25 26## Dataset Description27 28SO-101 (`so_follower`) teleoperation dataset for stacking cups. Contains **660 episodes** / **188035 frames** at **30 FPS**, with three RGB cameras (`observation.images.front`, `observation.images.top`, `observation.images.wrist`) and 6-DoF joint state/action. Task prompt: "Stack the cups". Stored in LeRobot **v3.0** format.29 30- **Homepage:** https://huggingface.co/datasets/io-intelligence/so101_stack_cups31- **Paper:** [More Information Needed]32- **License:** apache-2.033 34## Dataset Structure35 36[meta/info.json](meta/info.json):37```json38{39    "codebase_version": "v3.0",40    "fps": 30,41    "features": {42        "action": {43            "dtype": "float32",44            "names": [45                "shoulder_pan.pos",46                "shoulder_lift.pos",47                "elbow_flex.pos",48                "wrist_flex.pos",49                "wrist_roll.pos",50                "gripper.pos"51            ],52            "shape": [53                654            ]55        },56        "observation.state": {57            "dtype": "float32",58            "names": [59                "shoulder_pan.pos",60                "shoulder_lift.pos",61                "elbow_flex.pos",62                "wrist_flex.pos",63                "wrist_roll.pos",64                "gripper.pos"65            ],66            "shape": [67                668            ]69        },70        "observation.images.front": {71            "dtype": "video",72            "shape": [73                480,74                640,75                376            ],77            "names": [78                "height",79                "width",80                "channels"81            ],82            "info": {83                "is_depth_map": false,84                "video.height": 480,85                "video.width": 640,86                "video.codec": "h264",87                "video.pix_fmt": "yuv420p",88                "video.fps": 30,89                "video.channels": 3,90                "has_audio": false,91                "video.g": 2,92                "video.crf": 18,93                "video.preset": 4,94                "video.fast_decode": 0,95                "video.video_backend": "pyav",96                "video.extra_options": {}97            }98        },99        "observation.images.top": {100            "dtype": "video",101            "shape": [102                480,103                640,104                3105            ],106            "names": [107                "height",108                "width",109                "channels"110            ],111            "info": {112                "is_depth_map": false,113                "video.height": 480,114                "video.width": 640,115                "video.codec": "h264",116                "video.pix_fmt": "yuv420p",117                "video.fps": 30,118                "video.channels": 3,119                "has_audio": false,120                "video.g": 2,121                "video.crf": 18,122                "video.preset": 4,123                "video.fast_decode": 0,124                "video.video_backend": "pyav",125                "video.extra_options": {}126            }127        },128        "observation.images.wrist": {129            "dtype": "video",130            "shape": [131                480,132                640,133                3134            ],135            "names": [136                "height",137                "width",138                "channels"139            ],140            "info": {141                "is_depth_map": false,142                "video.height": 480,143                "video.width": 640,144                "video.codec": "h264",145                "video.pix_fmt": "yuv420p",146                "video.fps": 30,147                "video.channels": 3,148                "has_audio": false,149                "video.g": 2,150                "video.crf": 18,151                "video.preset": 4,152                "video.fast_decode": 0,153                "video.video_backend": "pyav",154                "video.extra_options": {}155            }156        },157        "timestamp": {158            "dtype": "float32",159            "shape": [160                1161            ],162            "names": null163        },164        "frame_index": {165            "dtype": "int64",166            "shape": [167                1168            ],169            "names": null170        },171        "episode_index": {172            "dtype": "int64",173            "shape": [174                1175            ],176            "names": null177        },178        "index": {179            "dtype": "int64",180            "shape": [181                1182            ],183            "names": null184        },185        "task_index": {186            "dtype": "int64",187            "shape": [188                1189            ],190            "names": null191        }192    },193    "total_episodes": 660,194    "total_frames": 188035,195    "total_tasks": 1,196    "chunks_size": 1000,197    "data_files_size_in_mb": 100,198    "video_files_size_in_mb": 200,199    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",200    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",201    "robot_type": "so_follower",202    "splits": {203        "train": "0:660"204    }205}206```207 208 209## Citation210 211**BibTeX:**212 213```bibtex214[More Information Needed]215```216