zmfldlwx/community-v1-so101-pick_and_place-converted
This dataset was created using LeRobot. Dataset Description Public LeRobot v3 derivative of the high-confidence pick-and-place, stacking, sorting, and chess-relocation subset of HuggingFaceVLA/community_dataset_v1. The source SO-100 six-joint action/state coordinates were converted into the SO-101 coordinate convention measured in the author's 150-episode reference set. The body-joint mapping is pan=x, shoulder_lift=180-x, elbow_flex=x-180, wrist_flex=x, and wrist_roll=x;… See the full description on the dataset page: https://huggingface.co/datasets/zmfldlwx/community-v1-so101-pick_and_place-converted.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=zmfldlwx/community-v1-so101-pickplace-chess-v3"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
Public LeRobot v3 derivative of the high-confidence pick-and-place, stacking, sorting, and chess-relocation subset of HuggingFaceVLA/communitydatasetv1.
The source SO-100 six-joint action/state coordinates were converted into the SO-101 coordinate convention measured in the author's 150-episode reference set. The body-joint mapping is pan=x, shoulder_lift=180-x, elbow_flex=x-180, wrist_flex=x, and wrist_roll=x; action and observation.state use the same mapping. Gripper direction and robust q01/q99 endpoints were inferred per source leaf and linearly mapped to the reference SO-101 gripper endpoints. This is a coordinate normalization for direct joint-action pretraining, not a claim that the source demonstrations were physically replayed on the author's SO-101.
Because Community-v1 camera extrinsics are not standardized, source camera observation.images.image is exposed as observation.images.primary and observation.images.image2 as observation.images.secondary; the names do not claim a fixed physical mounting position. No synthetic view was added. Every included leaf passed structural, Parquet, timestamp, finite-signal, video FPS/resolution, and cross-camera frame-count checks after merge. Minority H.264 source shards were transcoded to AV1 with exact frame-count verification so the merged feature schema is uniform. Automated QC passed; manual success review of all 6288 demonstrations remains PENDING.
Exact source leaves, rejected leaves, action transforms, gripper calibration endpoints, and QC results are stored under meta/source_selection_manifest.json and meta/source_conversion_results.json.
Episodes: 6288. Frames: 2821930. FPS: 30. License: Apache-2.0.
- Homepage: https://huggingface.co/datasets/HuggingFaceVLA/communitydatasetv1
- Paper: https://arxiv.org/abs/2506.01844
- License: apache-2.0
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"
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"fps": 30
},
"observation.images.secondary": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false,
"video.g": null,
"video.video_backend": "pyav",
"video.extra_options": null,
"video.fast_decode": null,
"video.preset": null,
"video.crf": null
}
},
"observation.images.primary": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false,
"video.g": null,
"video.video_backend": "pyav",
"video.extra_options": null,
"video.fast_decode": null,
"video.preset": null,
"video.crf": null
}
},
"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": 6288,
"total_frames": 2821930,
"total_tasks": 60,
"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": "0:6288"
}
}Citation
BibTeX:
@misc{community_v1_so101_pickplace_chess_v3,
title={Community Dataset v1 SO-101 Pick-Place and Chess v3},
author={zmfldlwx},
year={2026},
url={https://huggingface.co/datasets/zmfldlwx/community-v1-so101-pickplace-chess-v3}
}