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--- |
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license: mit |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Task description |
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The objective of the task is to grasp and place colored cubes in a 2x2 grid, using a SO-101 robot arm. Two cameras were used to visualize the scene. |
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The task to achieve is decomposed in three sub-tasks ordered by difficulty: |
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- level 1: pick a single black cube and place it in a cell of the 2x2 grid. The cell is indicated by a black cross and is always at the same position (top-left cell). |
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- level 2: same as level 1 but the target cell can be any cell in the 2x2 grid. |
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- level 3: pick two cubes (one black and one green) and place them on the cells marked with the corresponding colored crosses in the 2x2 grid. |
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Each level was the occasion to record a new dataset specific to the level to complete. |
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## Dataset Description |
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This dataset contains a set of teleoperated demonstrations collected during a two-day hackathon using the LeRobot library and SO-101 robot arms in a leader–follower setup. |
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Each episode shows the follower arm picking two colored cubes and placing them onto the matching colored crosses inside a 2×2 grid. |
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Two RGB cameras were used: one facing the follower arm and one looking at the follower arm from a +45° perspective. |
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The background was masked with cardboard and wood panes. Ambient lighting varied throughout the day. |
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### Episode Protocol |
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1- Start with the black cube: grasp and place it on the cross |
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2- Go back to the starting position. |
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3- Repeat with the green cube (task 3). |
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4- Go back to the starting position. |
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## Variability |
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Data were recorded with 3 different persons that manipulates the leader arm, each one with its own "style". |
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