Datasets:
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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
This dataset contains the final batch of teleoperated demonstrations collected during a two-day hackathon using the LeRobot library and SO-101 robot arms in a leader–follower configuration.
Each episode shows the follower arm picking two colored cubes (one after the other) and placing each into the matching colored cross within a 2×2 grid. Two RGB cameras were used:
Top camera: mounted above the workspace for a clear 2D view of the arm, cubes, and grid.
Front/low camera: slightly above the ground, facing the arm and grid to provide better z-axis cues and arm self-perception.
Despite cardboard backgrounding, the room’s illumination varied over time and is deliberately preserved in the data, as it proved to be a limiting factor and may be valuable for robustness research.
This dataset is intended for vision-based imitation learning (e.g., behavior cloning, goal-conditioned policies), multi-view fusion, and perception-control studies on tabletop manipulation.
### Use Cases
- **Imitation Learning**: Behavior cloning from teleop demonstrations.
- **Multiview Perception**: Fusing top + front perspectives for depth inference without explicit depth sensors.
- **Robustness to Lighting**: Evaluating policy sensitivity to illumination drift.
- **State–Action Alignment**: Leveraging synchronized proprioception and images.
## Data Collection
### Teleoperation Setup
- **Leader–Follower**: Human teleoperates a leader arm; follower SO-101 replicates motion to generate demonstrations.
- **Workspace**: Tabletop with a 2×2 grid. Each cell contains a colored cross; two colored cubes must be placed on matching crosses.
- **Cameras**:
- **Top**: overhead, full scene.
- **Front**: low angle, emphasizes depth and arm self-pose.
- **Background control**: Cardboard panels; lighting varies during the day and is preserved in data.
### Episode Protocol
1- Move to pre-grasp; localize target cube(s) visually.
2- Grasp first cube; transport; place on correct colored cross.
3- Repeat for second cube.
4- Return to neutral.
## Known limitations
- **Lighting drift**: Significant variation during the day; expect distribution shift. Consider color constancy or data augmentation.
- **Camera motion**: Cameras are fixed for the batch, but small nudges may occur; rely on metadata intrinsics/extrinsics if provided.
- **Occlusions**: Self-occlusion of the gripper and cubes in certain positions, especially from left camera during close approach.
- **No depth**: RGB only
## Additional Information
- **Homepage:** [deel-ai](https://www.irt-saintexupery.com/deel/)
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 31189,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
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