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Datasets:
Nfiniteai
/
so_arm_100_image_rnd_2

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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observation.image
imagewidth (px)
512
512
observation.state
sequence
action
sequence
next.success
bool
2 classes
next.reward
float32
-0
1.57
timestamp
float32
0
9.83
frame_index
int64
0
295
episode_index
int64
0
126
index
int64
0
19.7k
task_index
int64
0
0
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

The SO ARM 100 test dataset series is an example dataset for testing purposes. It is a synthetic dataset from a high-fidelity pick and place task recorded from an expert policy trained in IsaacLab. The dataset consists of image observations, joint angle observations, and joint angle actions. There are five datasets in the series with varying degrees of domain randomization, as shown below. In addition to the state randomization, the dataset contains all the previous randomizations, starting with so_arm_100_image_rnd_2.

Dataset Name Randomization
so_arm_100_image_no_rnd No randomizations
so_arm_100_image_rnd_1 Cube table pose
so_arm_100_image_rnd_2 + Plate table position
so_arm_100_image_rnd_3 + Camera pose
so_arm_100_image_rnd_4 + Light intensity

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "simulated_so_arm_100",
    "total_episodes": 200,
    "total_frames": 31208,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30.0,
    "splits": {
        "train": "0:200"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.image": {
            "dtype": "image",
            "names": [
                "channels",
                "height",
                "width"
            ],
            "shape": [
                3,
                512,
                512
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ]
        },
        "next.success": {
            "dtype": "bool",
            "shape": [
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        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

@inproceedings{nfinite-ds-1,
  author = {Miguel Alonso Jr},
  editor = {nfinite R&D Team},
  title = {nfinite physical AI: SO ARM 100 Test Data},
  year = {2025}
}
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