diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..096fe8c801072171922a98a7910279b260dc0398 --- /dev/null +++ b/README.md @@ -0,0 +1,215 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +- so101 +- so_follower +- manipulation +- stack_cups +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +This dataset was created using [LeRobot](https://github.com/huggingface/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] +- **License:** apache-2.0 + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v3.0", + "fps": 30, + "features": { + "action": { + "dtype": "float32", + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "gripper.pos" + ], + "shape": [ + 6 + ] + }, + "observation.state": { + "dtype": "float32", + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "gripper.pos" + ], + "shape": [ + 6 + ] + }, + "observation.images.front": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 2, + "video.crf": 18, + "video.preset": 4, + "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": "h264", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 2, + "video.crf": 18, + "video.preset": 4, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": {} + } + }, + "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": "h264", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 2, + "video.crf": 18, + "video.preset": 4, + "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": 660, + "total_frames": 188035, + "total_tasks": 1, + "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": "0:660" + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +[More Information Needed] +``` diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..69b7177223add4b77388599217439f38b18eef50 --- /dev/null +++ b/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42c6b4064abcf0b8df346baf80291bc8e7a747b74e316e768f3309eb4acc9b8a +size 799470 diff --git a/data/chunk-000/file-001.parquet b/data/chunk-000/file-001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..dc2175300af61f3bdc5935f78744de294a526707 --- /dev/null +++ b/data/chunk-000/file-001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f8faa5abfeed8376912a768ef6a271b1be0cce40a404b29853c93604629a496 +size 935215 diff --git a/data/chunk-000/file-002.parquet b/data/chunk-000/file-002.parquet new file mode 100644 index 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