Search is not available for this dataset
action list | observation.state list | timestamp float32 0 54.2 β | frame_index int64 0 1.63k β | episode_index int64 0 19 β | index int64 0 12.8k β | task_index int64 0 0 β |
|---|---|---|---|---|---|---|
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1.0500611066818237,
0.7223113775253296
] | [
1.0293333530426025,
24.511110305786133,
61.380001068115234,
0.9049999713897705,
-88.35142517089844,
1.0583332777023315,
1.100000023841858
] | 3.233333 | 97 | 0 | 97 | 0 |
[
1.0705057382583618,
23.909395217895508,
63.78451919555664,
-88.51502990722656,
1.0500611066818237,
0.7223113775253296
] | [
1.0293333530426025,
23.851110458374023,
63.06941223144531,
0.7580000162124634,
-88.7028579711914,
1.0583332777023315,
1
] | 3.266667 | 98 | 0 | 98 | 0 |
[
1.0705057382583618,
24.077180862426758,
63.78451919555664,
-88.51502990722656,
1.0500611066818237,
0.7223113775253296
] | [
1.0293333530426025,
23.851110458374023,
63.764705657958984,
0.8930000066757202,
-88.47856903076172,
1.0583332777023315,
1
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
capstone design
Robot demonstration datasets collected with an SO101 leader arm and a
Piper follower arm. This repository contains finalized dresser*, pickandplace*, and
pick&place14 through pick&place33, and pick&place35 through pick&place44 recording sessions in LeRobot v3.0 format.
Contents
- 57 recording-session datasets, 669 episodes, and 217,458 timesteps.
dresser*: 165 episodes and 89,145 timesteps.pickandplace*: 104 episodes and 77,106 timesteps.pick&place14throughpick&place33: 200 episodes and 25,602 timesteps, with English task instructions.pick&place35throughpick&place44: 200 episodes and 25,605 timesteps, with original Korean task labels.- Recorded dataset frame rate: 30 FPS.
- Two RGB camera streams:
d405_rgb(424 x 240) andusb_front(320 x 240). - Action/state data and MP4 videos are preserved unchanged.
- The October 5 additions have translated English task instructions; the October 15 additions retain their original Korean labels.
- Unfinalized PNG recording buffers are excluded.
Each top-level session folder is a separate LeRobot dataset root containing
meta/, data/, and videos/. The repository is a collection of datasets;
it is not a single merged LeRobot dataset root.
| Session folder | Episodes | Timesteps |
|---|---|---|
dresser1 |
10 | 7,148 |
dresser2 |
10 | 7,538 |
dresser3 |
10 | 6,480 |
dresser4 |
10 | 5,641 |
dresser5 |
10 | 4,932 |
dresser5_1 |
2 | 1,174 |
dresser6 |
7 | 4,444 |
dresser7 |
6 | 3,784 |
dresser8 |
10 | 5,303 |
dresser9 |
10 | 5,610 |
pickandplace1 |
10 | 12,827 |
pickandplace10 |
10 | 6,372 |
pickandplace11 |
10 | 5,475 |
pickandplace12 |
10 | 5,274 |
pickandplace2 |
5 | 4,623 |
pickandplace3 |
10 | 7,167 |
pickandplace4 |
7 | 5,528 |
pickandplace5 |
1 | 1,236 |
pickandplace6 |
10 | 8,134 |
pickandplace7 |
8 | 5,629 |
pickandplace8 |
13 | 8,407 |
pickandplace9 |
10 | 6,434 |
pick&place14 |
10 | 1,000 |
pick&place15 |
10 | 1,190 |
pick&place16 |
10 | 1,631 |
pick&place17 |
10 | 1,303 |
pick&place18 |
10 | 1,263 |
pick&place19 |
10 | 1,334 |
pick&place20 |
10 | 1,191 |
pick&place21 |
10 | 1,323 |
pick&place22 |
10 | 1,948 |
pick&place23 |
10 | 1,302 |
pick&place24 |
10 | 1,412 |
pick&place25 |
10 | 1,527 |
pick&place26 |
10 | 983 |
pick&place27 |
10 | 1,407 |
pick&place28 |
10 | 1,158 |
pick&place29 |
10 | 1,037 |
pick&place30 |
10 | 1,004 |
pick&place31 |
10 | 1,025 |
pick&place32 |
10 | 1,241 |
pick&place33 |
10 | 1,323 |
dresser10 |
10 | 4,912 |
dresser11 |
10 | 5,053 |
dresser12 |
20 | 7,674 |
dresser13 |
20 | 9,928 |
dresser14 |
20 | 9,524 |
pick&place35 |
20 | 2,151 |
pick&place36 |
20 | 2,365 |
pick&place37 |
20 | 3,426 |
pick&place38 |
20 | 2,946 |
pick&place39 |
20 | 2,330 |
pick&place40 |
20 | 2,311 |
pick&place41 |
20 | 2,118 |
pick&place42 |
20 | 2,828 |
pick&place43 |
20 | 2,933 |
pick&place44 |
20 | 2,197 |
State and action representation
The original 6-dimensional action representation is intentional and is preserved in this release. No action dimensions have been added or removed.
observation.state has 7 components:
[joint_1.pos, joint_2.pos, joint_3.pos, joint_4.pos,
joint_5.pos, joint_6.pos, gripper.pos]
action has 6 components:
[shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos,
wrist_flex.pos, wrist_roll.pos, gripper.pos]
The current collection adapter maps the five arm action components to Piper
joint_1, joint_2, joint_3, joint_5, and joint_6, respectively.
Piper joint_4 is maintained by the adapter and is not a separate recorded
action component. State includes its observed position.
The current collection configuration uses normalized joint values in [-100, 100] and gripper values in [0, 100]. Per-session hardware calibration and command-line arguments are not included in the original dataset metadata.
Task annotations
The original dresser1 through dresser9 (including dresser5_1) and
pickandplace1 through pickandplace12 sessions
retain their original test annotations. These older sessions still require
semantic labeling for applications using task-specific language instructions.
The 20 sessions pick&place14 through pick&place33 have English instructions
in both meta/tasks.parquet and the episode metadata. Their numeric task IDs
and action/state data remain unchanged. Korean source labels are retained
as provenance in dataset_manifest.json. Representative frames were inspected
to name the observed object forms (bottle, can, gum container, tape dispenser).
| Original object label | English task | Sessions |
|---|---|---|
| νν΅ | pick up the pencil case and place it in the box |
pick&place14, pick&place20, pick&place26, pick&place30 |
| κ» | pick up the container of chewing gum and place it in the box |
pick&place15, pick&place21, pick&place25, pick&place31 |
| 보리차 | pick up the barley tea bottle and place it in the box |
pick&place16, pick&place22, pick&place27, pick&place33 |
| μ½λΌ | pick up the can of cola and place it in the box |
pick&place17, pick&place23, pick&place24, pick&place32 |
| ν μ΄ν | pick up the tape dispenser and place it in the box |
pick&place18, pick&place19, pick&place28, pick&place29 |
October 15, 2026 additions
The 15 new sessions (dresser10 through dresser14 and pick&place35 through
pick&place44) add 280 episodes and 62,696 timesteps. All original files,
including Korean task labels, are preserved byte-for-byte. These labels
have not been translated or mapped to the English evaluation instructions.
Normalize task instructions separately when preparing language-conditioned training data.
| Session | Original task label |
|---|---|
dresser10 |
μλμ₯&μ΄μ½λ¦Ώ |
dresser11 |
μλμ₯&μ΄μ½λ¦Ώ_μ |
dresser12 |
μλμ₯&μ΄μ½λ¦Ώ_μλ |
dresser13 |
μλμ₯ |
dresser14 |
μλμ₯_μ |
pick&place35 |
νν΅ |
pick&place36 |
κ» |
pick&place37 |
보리차 |
pick&place38 |
μ½λΌ |
pick&place39 |
ν μ΄ν |
pick&place40 |
ν μ΄ν |
pick&place41 |
νν΅ |
pick&place42 |
μ½λΌ |
pick&place43 |
보리차 |
pick&place44 |
κ» |
Download
from huggingface_hub import snapshot_download
dataset_directory = snapshot_download(
repo_id="khb2439/capstone-design",
repo_type="dataset",
local_dir="capstone-design",
)
Use individual session subfolders, such as capstone-design/dresser1, as
dataset paths. Configure or convert the data for the selected training loader.
For example, this upload preserves LeRobot v3.0; it is not an already
converted GR00T LeRobot v2 dataset.
Validation
The original 22-session release had all 129,160 data rows inspected for action/state dimensions, finite values, normalized ranges, and episode/index consistency. Its 44 MP4 files were fully decoded, with 258,320 frames across the two cameras, matching the recorded episode lengths.
For the 20 added sessions, task references were verified across all 200 episodes and 25,602 data rows. Relabeling preserved numeric task IDs, schemas, all non-task metadata columns, and checksums of action/state files and videos. Representative video frames were inspected; full video decoding of these new sessions was not part of this update.
For the October 15 additions, all 62,696 data rows and 280 episodes were checked for dimensions, finite values, normalized ranges, task references, episode indices, timestamps, and video segment boundaries. All 30 MP4 files were fully decoded: 125,392 frames across the two cameras, with matching frame counts, dimensions, and media timestamps. SHA-256 and Git object hashes are recorded for all 105 new data/metadata/video files.
One existing metadata discrepancy is retained unchanged: pickandplace5
contains a stored joint_4 state standard deviation of approximately
0.222004, while direct recomputation gives approximately 0.215845.
Recompute statistics when preparing transformed or merged training datasets.
Validation does not certify task success, hardware timestamp synchronization, or model deployment performance.
dataset_manifest.json lists the sessions and SHA-256 checksums of all
399 current data/metadata/video files for integrity verification.
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