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Datasets:
CoRL2026-CSI
/
SO101-teleop_stack_RGBblock_on_bluedish_200epi_10fps

Tasks:
Robotics
Tags:
LeRobot
so101
teleoperation
real-robot
10fps
stacking
License:
Dataset card Files
xet
 Community
Dataset Viewer
Duplicate
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
dst_episode_index: int64
source_repo: string
source_episode_index: int64
source_fps: int64
stride: int64
output_length: int64
splits: struct<train: string>
  child 0, train: string
data_files_size_in_mb: int64
video_path: string
chunks_size: int64
codebase_version: string
robot_type: string
fps: int64
features: struct<action: struct<dtype: string, names: list<item: string>, shape: list<item: int64>>, observati (... 1026 chars omitted)
  child 0, action: struct<dtype: string, names: list<item: string>, shape: list<item: int64>>
      child 0, dtype: string
      child 1, names: list<item: string>
          child 0, item: string
      child 2, shape: list<item: int64>
          child 0, item: int64
  child 1, observation.state: struct<dtype: string, names: list<item: string>, shape: list<item: int64>>
      child 0, dtype: string
      child 1, names: list<item: string>
          child 0, item: string
      child 2, shape: list<item: int64>
          child 0, item: int64
  child 2, observation.images.left_wrist: struct<dtype: string, shape: list<item: int64>, names: list<item: string>, info: struct<video.height (... 157 chars omitted)
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: list<item: string>
          child 0, item: string
      child 3, info: struct<video.height: int64, video.width: int64, video.codec: string, video.pix_fmt: string, video.is (... 75 chars omitted)
          child 0, video.height
...
is (... 75 chars omitted)
          child 0, video.height: int64
          child 1, video.width: int64
          child 2, video.codec: string
          child 3, video.pix_fmt: string
          child 4, video.is_depth_map: bool
          child 5, video.fps: int64
          child 6, video.channels: int64
          child 7, has_audio: bool
  child 4, timestamp: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 5, frame_index: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 6, episode_index: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 7, index: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
  child 8, task_index: struct<dtype: string, shape: list<item: int64>, names: null>
      child 0, dtype: string
      child 1, shape: list<item: int64>
          child 0, item: int64
      child 2, names: null
total_tasks: int64
data_path: string
total_episodes: int64
total_frames: int64
video_files_size_in_mb: int64
to
{'codebase_version': Value('string'), 'robot_type': Value('string'), 'total_episodes': Value('int64'), 'total_frames': Value('int64'), 'total_tasks': Value('int64'), 'chunks_size': Value('int64'), 'data_files_size_in_mb': Value('int64'), 'video_files_size_in_mb': Value('int64'), 'fps': Value('int64'), 'splits': {'train': Value('string')}, 'data_path': Value('string'), 'video_path': Value('string'), 'features': {'action': {'dtype': Value('string'), 'names': List(Value('string')), 'shape': List(Value('int64'))}, 'observation.state': {'dtype': Value('string'), 'names': List(Value('string')), 'shape': List(Value('int64'))}, 'observation.images.left_wrist': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': List(Value('string')), 'info': {'video.height': Value('int64'), 'video.width': Value('int64'), 'video.codec': Value('string'), 'video.pix_fmt': Value('string'), 'video.is_depth_map': Value('bool'), 'video.fps': Value('int64'), 'video.channels': Value('int64'), 'has_audio': Value('bool')}}, 'observation.images.top': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': List(Value('string')), 'info': {'video.height': Value('int64'), 'video.width': Value('int64'), 'video.codec': Value('string'), 'video.pix_fmt': Value('string'), 'video.is_depth_map': Value('bool'), 'video.fps': Value('int64'), 'video.channels': Value('int64'), 'has_audio': Value('bool')}}, 'timestamp': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'frame_index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'episode_index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'task_index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}}}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                         ^^^^^^^^^
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 299, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 128, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2321, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2249, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              dst_episode_index: int64
              source_repo: string
              source_episode_index: int64
              source_fps: int64
              stride: int64
              output_length: int64
              splits: struct<train: string>
                child 0, train: string
              data_files_size_in_mb: int64
              video_path: string
              chunks_size: int64
              codebase_version: string
              robot_type: string
              fps: int64
              features: struct<action: struct<dtype: string, names: list<item: string>, shape: list<item: int64>>, observati (... 1026 chars omitted)
                child 0, action: struct<dtype: string, names: list<item: string>, shape: list<item: int64>>
                    child 0, dtype: string
                    child 1, names: list<item: string>
                        child 0, item: string
                    child 2, shape: list<item: int64>
                        child 0, item: int64
                child 1, observation.state: struct<dtype: string, names: list<item: string>, shape: list<item: int64>>
                    child 0, dtype: string
                    child 1, names: list<item: string>
                        child 0, item: string
                    child 2, shape: list<item: int64>
                        child 0, item: int64
                child 2, observation.images.left_wrist: struct<dtype: string, shape: list<item: int64>, names: list<item: string>, info: struct<video.height (... 157 chars omitted)
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: list<item: string>
                        child 0, item: string
                    child 3, info: struct<video.height: int64, video.width: int64, video.codec: string, video.pix_fmt: string, video.is (... 75 chars omitted)
                        child 0, video.height
              ...
              is (... 75 chars omitted)
                        child 0, video.height: int64
                        child 1, video.width: int64
                        child 2, video.codec: string
                        child 3, video.pix_fmt: string
                        child 4, video.is_depth_map: bool
                        child 5, video.fps: int64
                        child 6, video.channels: int64
                        child 7, has_audio: bool
                child 4, timestamp: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 5, frame_index: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 6, episode_index: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 7, index: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
                child 8, task_index: struct<dtype: string, shape: list<item: int64>, names: null>
                    child 0, dtype: string
                    child 1, shape: list<item: int64>
                        child 0, item: int64
                    child 2, names: null
              total_tasks: int64
              data_path: string
              total_episodes: int64
              total_frames: int64
              video_files_size_in_mb: int64
              to
              {'codebase_version': Value('string'), 'robot_type': Value('string'), 'total_episodes': Value('int64'), 'total_frames': Value('int64'), 'total_tasks': Value('int64'), 'chunks_size': Value('int64'), 'data_files_size_in_mb': Value('int64'), 'video_files_size_in_mb': Value('int64'), 'fps': Value('int64'), 'splits': {'train': Value('string')}, 'data_path': Value('string'), 'video_path': Value('string'), 'features': {'action': {'dtype': Value('string'), 'names': List(Value('string')), 'shape': List(Value('int64'))}, 'observation.state': {'dtype': Value('string'), 'names': List(Value('string')), 'shape': List(Value('int64'))}, 'observation.images.left_wrist': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': List(Value('string')), 'info': {'video.height': Value('int64'), 'video.width': Value('int64'), 'video.codec': Value('string'), 'video.pix_fmt': Value('string'), 'video.is_depth_map': Value('bool'), 'video.fps': Value('int64'), 'video.channels': Value('int64'), 'has_audio': Value('bool')}}, 'observation.images.top': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': List(Value('string')), 'info': {'video.height': Value('int64'), 'video.width': Value('int64'), 'video.codec': Value('string'), 'video.pix_fmt': Value('string'), 'video.is_depth_map': Value('bool'), 'video.fps': Value('int64'), 'video.channels': Value('int64'), 'has_audio': Value('bool')}}, 'timestamp': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'frame_index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'episode_index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}, 'task_index': {'dtype': Value('string'), 'shape': List(Value('int64')), 'names': Value('null')}}}
              because column names don't match

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SO101-teleop_stack_RGBblock_on_bluedish_200epi_10fps

This dataset was created by merging SO-101 teleoperation LeRobot v3 datasets.

Dataset Description

Task: Stack red, green, and blue blocks on the blue dish from bottom to top.

The dataset contains 200 episodes and 43579 frames at 10 FPS with observation.images.left_wrist and observation.images.top RGB video streams.

Sources and Processing

  • CoRL2026-CSI/SO101-teleop_stack_RGBblock_on_bluedish_100epi_more episodes 0-99
  • CoRL2026-CSI/SO101-teleop_stack_RGBblock_on_bluedish_100epi episodes 0-99

Processing:

  • Source episodes are concatenated in source order.
  • 30 FPS source episodes are downsampled with frame indices 0, 3, 6, ....
  • observation.images.wrist is renamed to observation.images.left_wrist where needed.
  • episode_index, frame_index, index, timestamp, video offsets, and metadata statistics are regenerated.

Citation

BibTeX:

[More Information Needed]
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Models trained or fine-tuned on CoRL2026-CSI/SO101-teleop_stack_RGBblock_on_bluedish_200epi_10fps