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Datasets:
ProxIndustries
/
soarm_pick

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
so-arm
manipulation
pick-and-place
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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End of preview. Expand in Data Studio

soarm_pick

SO-ARM (so_follower) によるテレオペ収集データセット。LeRobot 形式 (codebase_version: v3.0)。

Task: Pick up the white sponge and place it on the blue plate.

Dataset structure

Robot type so_follower
Episodes 40
Frames 27,082
FPS 30
Episode length mean 677 / min 502 / max 892 frames (約 17–30 秒)
Tasks 1
Splits train: 0:40

Features

  • action — float32[6]: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
  • observation.state — float32[6]: 同上
  • observation.images.front — video, 480×640×3, AV1 (yuv420p, crf 30, 30 fps)
  • observation.images.wrist — video, 480×640×3, AV1 (yuv420p, crf 30, 30 fps)
  • timestamp, frame_index, episode_index, index, task_index

meta/stats.json および meta/episodes/ には q01/q99 を含む統計が格納されており、pi0.5 の QUANTILES 正規化に利用可能です。

Usage 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("ProxIndustries/soarm_pick")

hf download ProxIndustries/soarm_pick --repo-type dataset --local-dir ./soarm_pick
Downloads last month
33
Number of rows:
27,082
Total file size:
681 MB