bi-so101-insert-screw-271ep

Bimanual teleoperation dataset for the task "Insert the copper screw into the black sleeve", collected with SO-101 dual arms and LeRobot 0.5.0.

Dataset Summary

Field	Value
Episodes	271
Total Frames	1,057,404
FPS	30
Episode Length	mean 130s, range 79-242s
Robot Type	bi_so_follower (SO-101 x2)
Codebase Version	LeRobot v3.0
Size	11 GB

Features

Feature	Type	Shape	Description
action	float32	[12]	Target joint positions from leader arms (6 left + 6 right)
observation.state	float32	[12]	Current joint positions of follower arms (6 left + 6 right)
observation.images.left_wrist	video	[480, 640, 3]	Left arm wrist camera
observation.images.right_wrist	video	[480, 640, 3]	Right arm wrist camera
observation.images.right_front	video	[480, 640, 3]	Overhead/front global view camera

Joint order (per arm): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper

Collection Details

Schedule

Date	Collector	Episodes	Source Datasets
2026-04-01	wxy	40	b2–b9 (5 ep each)
2026-04-02	zzz	130	14 sessions, 2–20 ep each
2026-04-03	szk	101	9 sessions, 1–20 ep each

Hardware

• Machine: zhaobo-MS-7D90
• CPU: 12th Gen Intel Core i5-12600KF
• GPU: NVIDIA GeForce RTX 4060
• OS: Ubuntu 20.04 (kernel 5.15.0-139)
• Arms: SO-101 x4 (2 leaders + 2 followers), USB-TTL serial (CH340)
  • Left follower: 5B14030892
  • Right follower: 5B14031512
  • Left leader: 5B14111435
  • Right leader: 5B14032630
• Cameras: 3x USB cameras, 640x480 @ 30fps, h264 codec
  • right_front (overhead): USB port 0:3
  • left_wrist: USB port 0:4
  • right_wrist: USB port 0:1

Task Setup

Two SO-101 arms face each other on a white mat. Copper screws and black sleeves are placed between the arms. The operator uses leader arms to teleoperate the follower arms to pick up a copper screw and insert it into a black sleeve.

Data Processing Notes

Left/Right Action Swap Fix (April 1 & 2 data)

The April 1 and April 2 data was recorded with a bug in _group_arms() (fix commit 75f3ce7) that caused action and observation.state left/right dimensions to be swapped. The first 6 dimensions (labeled "left") actually contained right arm data and vice versa.

Fix applied: dimensions [0:6] and [6:12] were swapped in both action and observation.state for all April 1 and April 2 episodes. April 3 data was recorded after the bug fix and required no correction.

Camera Rename

Original recording used camera aliases with a redundant left_ group prefix:

• left_left_wrist → left_wrist
• left_right_wrist → right_wrist
• left_top → right_front

Excluded Episodes

• zzz_20260402_094601 (2 episodes, 6s + 36s): test recording, too short
• szk_20260403_170719 (1 episode, 2s): accidental trigger

Setup Snapshot

The full setup.json used during collection is included at meta/setup.json.

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Elvinky/bi-so101-insert-screw-271ep")