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Datasets:
ETHrobotlearning
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tv-task2-clean-aug1_illumination-fixed

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
lerobot
so101
pick-and-place
vla
manipulation
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - lerobot
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+ - so101
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+ - pick-and-place
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+ - vla
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+ - manipulation
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+ configs:
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+ - config_name: default
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+ data_files: data/**/*.parquet
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+ ---
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+
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+ # tv-task2-clean-aug1_illumination
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+
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+ LeRobot v3 dataset for banana pick-and-place with a SO-101 robot arm.
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+ Built for Vision-Language-Action (VLA / SmolVLA) training.
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+
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+ ## Dataset summary
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+
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+ | Property | Value |
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+ |---|---|
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+ | Episodes | 1 184 |
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+ | Frames | 139 368 |
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+ | FPS | 10 |
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+ | Task prompts | 33 |
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+ | Robot | SO-101 (so_follower) |
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+ | Camera | Front (480 × 640, AV1) |
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+ | Action space | 6-DoF joint positions |
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+ | Format | LeRobot v3.0 |
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+
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+ ## Construction
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+
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+ Base: **ETHrobotlearning/tv-task2-clean-aug1** (592 episodes, trimmed of idle boundary frames).
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+ Each episode is paired with one illumination-augmented copy (brightness ~ Uniform(0.7, 1.2), seed 42), doubling the dataset to 1 184 episodes.
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+
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+ ## Task prompts (33)
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+
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+ The dataset covers four referring styles:
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+
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+ **Color (direct)**
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+ - Put the banana in the red / green / blue bowl.
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+ - Put the banana in the red / green / blue colored bowl.
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+ - Place the banana in the red / green / blue bowl.
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+ - Move the banana to the red / green / blue colored bowl.
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+
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+ **Color (negation)**
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+ - Put the banana into the bowl that is not red and not blue.
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+ - Put the banana into the bowl that is not red and not green.
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+ - Put the banana into the bowl that is not green and not blue.
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+
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+ **Ordinal (robot perspective)**
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+ - Put the banana into the 1st / 2nd / 3rd bowl from the left from the robot perspective.
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+ - Put the banana into the left / center / right bowl from the robot perspective.
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+ - Put the banana into the leftmost / rightmost / middle bowl from the robot perspective.
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+
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+ **Relative position (robot perspective)**
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+ - Put the banana into the bowl on the left / right of the red bowl from the robot perspective.
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+ - Put the banana into the bowl on the left / right of the green bowl from the robot perspective.
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+ - Put the banana into the bowl on the left / right of the blue bowl from the robot perspective.
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+ - Put the banana into the bowl between the blue bowl and the green bowl.
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+ - Put the banana into the bowl between the blue bowl and the red bowl.
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+ - Put the banana into the bowl between the red bowl and the green bowl.
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+
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+ ## Features
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+
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+ | Feature | Type | Shape |
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+ |---|---|---|
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+ | `action` | float32 | (6,) — joint positions |
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+ | `observation.state` | float32 | (6,) — joint positions |
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+ | `observation.images.front` | video (AV1) | 480 × 640 × 3 |
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+ | `timestamp` | float32 | (1,) |
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+ | `frame_index` | int64 | (1,) |
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+ | `episode_index` | int64 | (1,) |
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+ | `index` | int64 | (1,) |
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+ | `task_index` | int64 | (1,) |
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+
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+ ## Visualization
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+
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+ Browse episodes interactively using the LeRobot visualizer:
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+
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+ <iframe
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+ src="https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=ETHrobotlearning%2Ftv-task2-clean-aug1_illumination&episode=0"
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+ frameborder="0"
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+ width="100%"
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+ height="920px"
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+ ></iframe>
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+
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+ For local exploration with [tracelr](https://github.com/jshh0/tracelr):
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+
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+ ```bash
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+ huggingface-cli download --repo-type dataset ETHrobotlearning/tv-task2-clean-aug1_illumination --local-dir ./dataset
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+ cargo run --profile opt-dev -- ./dataset
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+ ```
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+
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+ ## SmolVLA compatibility
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+
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+ ```
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+ lerobot-doctor gate ETHrobotlearning/tv-task2-clean-aug1_illumination --policy smolvla
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+ ```
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+ "total_episodes": 1184,
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+ "total_frames": 138768,
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+ "total_tasks": 33,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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