| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - so101 |
| - pick-and-place |
| - vla |
| - manipulation |
| configs: |
| - config_name: default |
| data_files: data/**/*.parquet |
| --- |
| |
| # tv-task2-clean-aug1_illumination |
| |
| LeRobot v3 dataset for banana pick-and-place with a SO-101 robot arm. |
| Built for Vision-Language-Action (VLA / SmolVLA) training. |
| |
| ## Dataset summary |
| |
| | Property | Value | |
| |---|---| |
| | Episodes | 1 184 | |
| | Frames | 139 368 | |
| | FPS | 10 | |
| | Task prompts | 33 | |
| | Robot | SO-101 (so_follower) | |
| | Camera | Front (480 × 640, AV1) | |
| | Action space | 6-DoF joint positions | |
| | Format | LeRobot v3.0 | |
|
|
| ## Construction |
|
|
| Base: **ETHrobotlearning/tv-task2-clean-aug1** (592 episodes, trimmed of idle boundary frames). |
| Each episode is paired with one illumination-augmented copy (brightness ~ Uniform(0.7, 1.2), seed 42), doubling the dataset to 1 184 episodes. |
|
|
| ## Task prompts (33) |
|
|
| The dataset covers four referring styles: |
|
|
| **Color (direct)** |
| - Put the banana in the red / green / blue bowl. |
| - Put the banana in the red / green / blue colored bowl. |
| - Place the banana in the red / green / blue bowl. |
| - Move the banana to the red / green / blue colored bowl. |
|
|
| **Color (negation)** |
| - Put the banana into the bowl that is not red and not blue. |
| - Put the banana into the bowl that is not red and not green. |
| - Put the banana into the bowl that is not green and not blue. |
|
|
| **Ordinal (robot perspective)** |
| - Put the banana into the 1st / 2nd / 3rd bowl from the left from the robot perspective. |
| - Put the banana into the left / center / right bowl from the robot perspective. |
| - Put the banana into the leftmost / rightmost / middle bowl from the robot perspective. |
|
|
| **Relative position (robot perspective)** |
| - Put the banana into the bowl on the left / right of the red bowl from the robot perspective. |
| - Put the banana into the bowl on the left / right of the green bowl from the robot perspective. |
| - Put the banana into the bowl on the left / right of the blue bowl from the robot perspective. |
| - Put the banana into the bowl between the blue bowl and the green bowl. |
| - Put the banana into the bowl between the blue bowl and the red bowl. |
| - Put the banana into the bowl between the red bowl and the green bowl. |
|
|
| ## Features |
|
|
| | Feature | Type | Shape | |
| |---|---|---| |
| | `action` | float32 | (6,) — joint positions | |
| | `observation.state` | float32 | (6,) — joint positions | |
| | `observation.images.front` | video (AV1) | 480 × 640 × 3 | |
| | `timestamp` | float32 | (1,) | |
| | `frame_index` | int64 | (1,) | |
| | `episode_index` | int64 | (1,) | |
| | `index` | int64 | (1,) | |
| | `task_index` | int64 | (1,) | |
|
|
| ## Visualization |
|
|
| Browse episodes interactively using the LeRobot visualizer: |
|
|
| <iframe |
| src="https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=ETHrobotlearning%2Ftv-task2-clean-aug1_illumination&episode=0" |
| frameborder="0" |
| width="100%" |
| height="920px" |
| ></iframe> |
|
|
| For local exploration with [tracelr](https://github.com/jshh0/tracelr): |
|
|
| ```bash |
| huggingface-cli download --repo-type dataset ETHrobotlearning/tv-task2-clean-aug1_illumination --local-dir ./dataset |
| cargo run --profile opt-dev -- ./dataset |
| ``` |
|
|
| ## SmolVLA compatibility |
|
|
| ``` |
| lerobot-doctor gate ETHrobotlearning/tv-task2-clean-aug1_illumination --policy smolvla |
| ``` |
|
|
