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Datasets:
kinam0252
/
so101_three_strawberries

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Languages:
English
Size:
10K - 100K
Tags:
robotics
manipulation
vision
imitation-learning
lerobot
so101
Libraries:
Datasets
Dask
License:
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observation.state
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float32
0
59.3
frame_index
int64
0
1.78k
episode_index
int64
0
0
index
int64
0
1.78k
task_index
int64
0
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YAML Metadata Warning: The task_categories "computer-vision" is not in the official list: text-classification, token-classification, table-question-answering, question-answering, zero-shot-classification, translation, summarization, feature-extraction, text-generation, fill-mask, sentence-similarity, text-to-speech, text-to-audio, automatic-speech-recognition, audio-to-audio, audio-classification, audio-text-to-text, voice-activity-detection, depth-estimation, image-classification, object-detection, image-segmentation, text-to-image, image-to-text, image-to-image, image-to-video, unconditional-image-generation, video-classification, reinforcement-learning, robotics, tabular-classification, tabular-regression, tabular-to-text, table-to-text, multiple-choice, text-ranking, text-retrieval, time-series-forecasting, text-to-video, image-text-to-text, visual-question-answering, document-question-answering, zero-shot-image-classification, graph-ml, mask-generation, zero-shot-object-detection, text-to-3d, image-to-3d, image-feature-extraction, video-text-to-text, keypoint-detection, visual-document-retrieval, any-to-any, video-to-video, other

SO101 Three Strawberries Dataset

Dataset Description

This dataset contains robot manipulation episodes for strawberry picking task using SO101 robot. The dataset includes 19 episodes of robot manipulation with multi-view camera observations.

Task

Task: Pick up strawberries and put them in a tray

Robot: SO101 Follower robot with 6 degrees of freedom

Dataset Structure

This dataset follows the LeRobot format and contains:

  • Data: Parquet files containing robot states, actions, and metadata
  • Videos: MP4 files with camera observations (front and wrist views)
  • Metadata: JSON files with episode information and statistics

Features

  • Action: 6-dimensional robot joint positions

    • shoulder_pan.pos: Shoulder pan joint position
    • shoulder_lift.pos: Shoulder lift joint position
    • elbow_flex.pos: Elbow flex joint position
    • wrist_flex.pos: Wrist flex joint position
    • wrist_roll.pos: Wrist roll joint position
    • gripper.pos: Gripper position

  • Observation State: 6-dimensional robot joint states (same as action)

  • Images: Multi-view camera observations

    • observation.images.front: Front camera view (480x640x3 RGB)
    • observation.images.wrist: Wrist camera view (960x1280x3 RGB)

  • Metadata:

    • timestamp: Frame timestamps in seconds
    • frame_index: Frame index within episode
    • episode_index: Episode index
    • task_index: Task index (0 for strawberry picking)

Usage

Using LeRobot 

from lerobot import load_dataset

# Load the dataset
dataset = load_dataset("kinam0252/so101_three_strawberries")

# Access episodes
for episode in dataset:
    print(f"Episode {episode['episode_index']}: {len(episode)} frames")
    print(f"Actions shape: {episode['action'].shape}")
    print(f"Images keys: {list(episode['observation.images'].keys())}")

Direct Loading 

import pandas as pd
import json

# Load episode data
df = pd.read_parquet("data/chunk-000/episode_000000.parquet")

# Load metadata
with open("meta/info.json", "r") as f:
    info = json.load(f)

# Access robot actions and states
actions = df["action"].values
states = df["observation.state"].values

Dataset Statistics

  • Total Episodes: 19
  • Total Frames: 32,641
  • FPS: 30
  • Average Episode Length: 1,700 frames (58 seconds)
  • Robot DOF: 6 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)

Citation

If you use this dataset, please cite:

@dataset{so101_three_strawberries,
  title={SO101 Three Strawberries Dataset},
  author={Your Name},
  year={2024},
  publisher={Hugging Face},
  url={https://huggingface.co/datasets/kinam0252/so101_three_strawberries}
}

License

This dataset is licensed under the MIT license.

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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
32,641