cueng/smolvla_demo_bowl
Robotics • Updated • 31
Search is not available for this dataset
action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 13.6 | frame_index int64 0 409 | episode_index int64 0 999 | index int64 0 222k | task_index int64 0 9 |
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SO101 Put [object] into Bowl
Dataset Summary
This dataset is formulated for use with the LeRobot framework. It contains robotic manipulation demonstrations for the SO101 embodiment performing a standardized pick-and-place task: "Put [object] into a bowl." The dataset captures precise manipulation trajectories across 10 distinct household and office objects against a fixed background, recorded from multiple camera angles. It is designed to train and evaluate visuomotor policies for robotic manipulation. Recorded and Validated by Sorrawit Poomseetong
Dataset Details
Statistics
- Robot: SO101 Follower
- Total Rows/Frames: 221,896
- Control Frequency: 30 Hz
- Demonstrations: 100 per object (1,000 total episodes)
- Background Setup: Fixed background
- Action Horizon/Length: ~200 steps per episode
Sensor Configuration
The dataset includes synchronized multi-view RGB image observations:
- Top Camera: (
observation.images.top) Provides a fixed, global overview of the workspace, the bowl, and the object's initial position. - Wrist Camera: (
observation.images.wrist) Provides an ego-centric view from the robot's end-effector, crucial for fine manipulation and grasping tasks.
Task & Objects
Task Instruction: "Put [object] into a bowl."
The dataset covers variations of this task across the following 10 objects. Each object features exactly 100 successful demonstrations:
- A plastic spoon
- A metal spoon
- A scissors
- A roll of tissue paper
- A blue marker
- A black marker
- A nipper
- A glue
- A white tape
- A screw driver
Data Structure
Data is formatted natively for lerobot and contains the following standard feature keys per step:
Observations
observation.images.top(image): RGB image from the overhead camera.observation.images.wrist(image): RGB image from the wrist camera.observation.state(listoffloat32): The state of the SO101 robot.
Actions & Metadata
action(List[float32]): The commanded actions at 30 Hz.timestamp(float32): Time elapsed in seconds since the start of the episode.frame_index(int64): Frame number within the current episode.episode_index(int64): Index of the demonstration episode (0 to 999).index(int64): Global index of the frame.task_index(int64): Corresponding ID for the specific object task.
Usage with LeRobot
You can load this dataset directly using the LeRobot library:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
# Load the dataset
dataset = LeRobotDataset("cueng/so101_demo_bowl")
# Load first frame
frame = dataset[0]
print(frame.keys())
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