SO-ARM101 duck pick-and-place — LeRobot Dataset v2.1 (legacy format)
Teleoperated demonstrations of an SO-ARM101 grabbing a rubber duck and placing it into a basket.
Recorded with lerobot-record (lerobot 0.3.3) on a Jetson Orin.
This dataset uses the legacy v2.1 format.
lerobot >= 0.4.0refuses to load it (BackwardCompatibilityError). Convert it first:python -m lerobot.scripts.convert_dataset_v21_to_v30 --repo-id=furuya02/so101-duck-pickplace-v21It is published as-is to compare the v2.1 and v3.0 layouts.
codebase_version |
v2.1 |
robot_type |
so101_follower |
| Episodes / frames | 50 / 9,995 (fps 15, 11.1 min) |
| Cameras | observation.images.front, observation.images.wrist (640x480 each) |
| Video codec | AV1 (lerobot default libsvtav1) |
action / observation.state |
float32 [6], degrees (--robot.use_degrees=true) |
| Task | Grab the duck and place it into the basket |
| Files | 154 (182.9 MB) |
Layout
meta/info.json
meta/episodes.jsonl
meta/episodes_stats.jsonl
meta/tasks.jsonl
data/chunk-000/episode_000000.parquet … episode_000049.parquet # 1 file per episode
videos/chunk-000/observation.images.front/episode_000000.mp4 … (50 files)
videos/chunk-000/observation.images.wrist/episode_000000.mp4 … (50 files)
The operator's fingertips appear at the top edge of the front camera in a few frames while resetting the duck.
Companion dataset
The same task recorded in the current v3.0 format (Mac, 30 episodes, 1 camera, H.264): furuya02/so101-duck-pickup-v30
Scripts that read both formats directly (without lerobot): furuya02/lerobot-dataset-anatomy
License
CC BY 4.0
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