---
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
```