30 episodes · 15 fps · 1 camera · 640×480 h264
SO-ARM101 duck pick-and-place — LeRobot Dataset v3.0
Teleoperated demonstrations of an SO-ARM101 picking up a rubber duck and putting it into a basket.
Recorded with lerobot-record (lerobot 0.5.1) on a Mac (Apple Silicon M2).
codebase_version |
v3.0 |
robot_type |
so_follower |
| Episodes / frames | 30 / 6,977 (fps 15, 7.8 min) |
| Cameras | observation.images.front (640x480) |
| Video codec | H.264 (--dataset.vcodec=h264_videotoolbox) |
action / observation.state |
float32 [6], degrees (shoulder_pan … gripper) |
| Task | Pick up the yellow duck and put it in the basket |
| Files | 7 (243.9 MB) |
Layout
meta/info.json
meta/stats.json # dataset-wide stats incl. q01..q99
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet # episode boundaries + per-episode stats
data/chunk-000/file-000.parquet # all 30 episodes concatenated (6,977 rows)
videos/observation.images.front/chunk-000/file-000.mp4 # ep 0-22 (198 MB)
videos/observation.images.front/chunk-000/file-001.mp4 # ep 23-29 (45 MB)
Episodes are located through meta/episodes/ (dataset_from_index / from_timestamp),
not through file names.
Companion dataset
The same task recorded in the legacy v2.1 format (Jetson Orin, 50 episodes, 2 cameras, AV1): furuya02/so101-duck-pickplace-v21
Scripts that read both formats directly (without lerobot): furuya02/lerobot-dataset-anatomy
License
CC BY 4.0
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