Publish Cosmos-augmented SO-101 multi-camera dataset (v2): WM pixels, real seed labels

README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- lerobot
+- so101
+- world-model
+- cosmos
+- synthetic-data
+- domain-randomization
+---
+
+# so101_recording_20260519_000250 — Cosmos-augmented (v2, multi-camera)
+
+World-model-augmented [LeRobot](https://github.com/huggingface/lerobot) dataset for the **SO-101**
+arm. The camera pixels are **generated by NVIDIA Cosmos** rolled forward from real seed frames; the
+**action / observation.state labels are the seed's REAL teleoperation labels**, carried through
+unchanged. In short: **pixels are world-model-generated, labels are real.**
+
+- **Seed dataset:** [`ofcourseistillloveyou/so101_recording_20260519_000250`](https://huggingface.co/datasets/ofcourseistillloveyou/so101_recording_20260519_000250) — real SO-101 teleoperation
+- **Method:** Cosmos world-model roll-forward, conditioned per-camera on each real seed frame, with real label-carry
+- **Cameras:** `observation.images.front`, `observation.images.side` — each rolled out **separately**
+  (Cosmos is a single-view generator) from its own real first frame, written back under its real seed key
+- **Augmentations (prompt-steered domain randomization):** lighting, distractors
+- **Episodes:** 1 · **Frames:** 97 · **fps:** 30
+- **action dim:** [6] · **observation.state dim:** [6]
+- **Task:** "Teleoperate the SO-101 arm."
+
+## How it was made
+
+Each generated trajectory conditions Cosmos on the **actual initial observation frame** of a seed
+episode and rolls the scene forward. The seed episode's per-frame `action` and `observation.state`
+vectors are carried onto the generated frames **aligned by index**, so every frame keeps a learnable,
+real `(frame -> action)` supervision signal — never zeros. The two camera views share the same
+per-frame labels (the robot supervision is camera-independent). Prompt-steered augmentations
+(lighting, distractors) vary the generated pixels while the carried labels stay invariant — the point
+of domain randomization.
+
+### Label fidelity (this release)
+
+The Cosmos rollout produced 97 frames while 93 seed label frames were loaded for conditioning, so the
+**first 93 frames carry the seed's exact per-frame labels** and the **final 4 frames hold the last
+real seed label** (standard "hold last real label when the rollout outruns the seed trajectory"
+behavior — still a real label, never zeros/garbage). Verified: both camera keys present, videos decode
+to real 704x1280 frames, and labels match the seed element-wise.
+
+> Provenance: pixels world-model-generated (Cosmos); labels real (from `ofcourseistillloveyou/so101_recording_20260519_000250`).

data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Teleoperate the SO-101 arm."], "length": 97}

meta/episodes_stats.jsonl

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meta/info.json

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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Teleoperate the SO-101 arm."}

videos/chunk-000/observation.images.front/episode_000000.mp4

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videos/chunk-000/observation.images.side/episode_000000.mp4

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