3.29k episodes · 30 fps · 2 cameras · 640×480 h264
SO-101 Multi-Task Language-Conditioned Dataset
Merged LeRobot v3.0 dataset with two normalized camera streams (top and wrist).
Summary
- Episodes: 3290
- Frames: 1945691
- Tasks/prompts: 135
- FPS: 30
- State/action units: five joint positions in degrees; gripper in percent (0–100).
- Camera keys:
observation.images.top,observation.images.wrist. - Camera output: 640×480, H.264, yuv420p.
All source datasets were required to match the target FPS; no temporal resampling was performed.
Provenance
Missing task strings are synthesized from the source dataset/task name using the configured fallback template.
| Source ID | Hugging Face repository | Episodes | FPS |
|---|---|---|---|
niat_eraser_drawer |
NIATphysicalAI/Eraser_drawer |
100 | 30 |
niat_battery_sort |
NIATphysicalAI/Battery_sort |
106 | 30 |
niat_battery_sort_v1 |
NIATphysicalAI/Battery_sort_v1 |
7 | 30 |
niat_drawer_cube_screwdriver |
NIATphysicalAI/drawer_cube_screwdriver |
101 | 30 |
niat_drawer_screwdriver_v2 |
NIATphysicalAI/Drawer_screwdriver_v2 |
51 | 30 |
niat_drawer_screwdriver |
NIATphysicalAI/Drawer_screwdriver |
34 | 30 |
niat_screwdriver_box |
NIATphysicalAI/screwdriver_box |
47 | 30 |
niat_screwdriver_box_v1 |
NIATphysicalAI/screwdriver_box_v1 |
20 | 30 |
niat_screwdriver_box_v0 |
NIATphysicalAI/screwdriver_box_v0 |
10 | 30 |
niat_stack_cubes |
NIATphysicalAI/stack_cubes |
58 | 30 |
niat_cup_stack |
NIATphysicalAI/Cup_stack |
100 | 30 |
niat_eraser |
NIATphysicalAI/eraser |
60 | 30 |
niat_cube |
NIATphysicalAI/cube |
54 | 30 |
niat_stapler |
NIATphysicalAI/stapler |
37 | 30 |
niat_bottle |
NIATphysicalAI/bottle |
48 | 30 |
niat_penholder |
NIATphysicalAI/penholder |
92 | 30 |
niat_sort_biodegradable |
NIATphysicalAI/sort_biodegradable |
169 | 30 |
niat_pick_place_cubes |
NIATphysicalAI/pick_place_cubes |
300 | 30 |
niat_chocolate_pick_place |
NIATphysicalAI/chocolate_pick_place |
50 | 30 |
niat_pick_place |
Bradx86/pick-place |
50 | 30 |
niat_push_t_v2 |
Bradx86/push_t_v2 |
194 | 30 |
niat_t_push |
Bradx86/t_push |
50 | 30 |
niat_bottle_orient |
Bradx86/Bottle_orient |
50 | 30 |
niat_cube_pick_place |
Bradx86/Cube_pick_place |
50 | 30 |
naive_bench_bin_sorting |
binhpham/naive-bench-subtasks |
312 | 30 |
so101_tic_tac_toe |
cagataydev/so101-tic-tac-toe |
210 | 30 |
project_ira_full_merged_final |
Project-IRA/TPSoSe2026_Dataset_Full_Merged_Final_LeRobot_SO101_V1 |
930 | 30 |
Episode-level provenance, including source repository and original episode index, is stored in meta/source_manifest.parquet.
Review each original dataset card for attribution and redistribution requirements.
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