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so101_stack_cups

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Modalities:
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Formats:
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Size:
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Tags:
LeRobot
so101
so_follower
manipulation
stack_cups
Libraries:
Datasets
Dask
Polars
License:
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README.md ADDED
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ - so101
8
+ - so_follower
9
+ - manipulation
10
+ - stack_cups
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+ configs:
12
+ - config_name: default
13
+ data_files: data/*/*.parquet
14
+ ---
15
+
16
+ This 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"/>
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+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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+ </a>
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+
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+ <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 Description
27
+
28
+ 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.
29
+
30
+ - **Homepage:** https://huggingface.co/datasets/io-intelligence/so101_stack_cups
31
+ - **Paper:** [More Information Needed]
32
+ - **License:** apache-2.0
33
+
34
+ ## Dataset Structure
35
+
36
+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ },
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+ "elbow_flex.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos"
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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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+ "robot_type": "so_follower",
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+ "splits": {
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+ "train": "0:660"
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+ }
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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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+
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+ **BibTeX:**
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+
213
+ ```bibtex
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+ [More Information Needed]
215
+ ```
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