Search is not available for this dataset
observation.state list | action list | next.done bool 2
classes | timestamp float32 0 36 | frame_index int64 0 1.08k | episode_index int64 0 259 | index int64 0 199k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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] | false | 3.266667 | 98 | 0 | 98 | 0 |
[
-30.76959228515625,
-83.61822509765625,
40.48149871826172,
46.5611457824707,
11.222887992858887,
55.96311950683594
] | [
-30.25368309020996,
-84.923095703125,
42.14010238647461,
42.85771560668945,
13.413561820983887,
55.96927261352539
] | false | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
Farpoint SO-101
SO-101 manipulation demonstrations generated in Isaac Lab.
- Dataset: wenyixu101/farpoint-so101
- Source: xuwenyihust/farpoint
- Dataset version: v0.1.3
Dataset summary
| Metric | Value |
|---|---|
| Task | Pick up a cube and place it on the green target pad |
| Robot | SO-101 follower arm: 5 arm joints + 1 gripper joint |
| Simulator | Isaac Sim 6.0.0 + PhysX, through Isaac Lab 3.0.0-beta2 |
| Controller | Simulation-truth, contact-aware DLS IK oracle |
| Episodes | 260 successful demonstrations |
| Frames | 198,571 at 30 Hz (about 1 h 50 min 19 s) |
| Cameras | Front and wrist RGB, each 640 x 480 at 30 Hz |
Logical episode splits
| Split | Nominal | Recovery | Total |
|---|---|---|---|
| Train | 180 | 60 | 240 |
| Validation | 20 | 0 | 20 |
| Total | 200 | 60 | 260 |
Nominal variation coverage
| Variation axis | Coverage in the 200 nominal demonstrations |
|---|---|
| Object variants | 100 blue cubes at 0.03 m / 0.03 kg; 100 red cubes at 0.04 m / 0.04 kg |
| Position | Continuous deterministic sampling across the feasible workspace; core 50, middle 100, outer 50 |
| Cube yaw | Five equal strata across [0°, 90°), with 40 demonstrations per stratum |
| Placement target | Green raised pad, 0.16 m x 0.14 m |
Recovery demonstrations
The train split contains 60 continuous-state recovery demonstrations. See the dataset quality report for the recovery-stage breakdown and evidence.
Policy features
| Feature | Shape / format | Description |
|---|---|---|
observation.state |
float32[6] |
Current SO-101 joint positions |
observation.images.front |
video, 480 x 640 x 3 |
External front-camera RGB |
observation.images.wrist |
video, 480 x 640 x 3 |
Wrist-mounted camera RGB |
action |
float32[6] |
Joint-position target sent during the current control step |
Intended use
The dataset is intended for robot-learning pipeline development, behavior cloning experiments, simulation evaluation, data-loader testing, and research on variation-aware manipulation.
License and third-party components
Farpoint-authored dataset content is released under the Creative Commons Attribution 4.0 International license (CC BY 4.0):
https://creativecommons.org/licenses/by/4.0/
This license applies only to content that Farpoint has the right to license.
Isaac Sim, Isaac Lab, NVIDIA Omniverse components, and other third-party assets
are not relicensed by Farpoint. The SO-101 USD originates from NVIDIA's
Sim-to-Real SO-101 Workshop at commit
ce807d99724cb65671abec01f908a2fcb4a6eab7; its upstream Apache-2.0 notice and
Farpoint's third-party attribution apply.
Versioning and attribution
Dataset versions are independent of the Farpoint Python package version. Please cite the Farpoint source repository and identify both the dataset repository and immutable version tag used in your work.
See the dataset changelog for version-by-version changes.
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