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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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- robotics |
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- robot-learning |
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- imitation-learning |
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- manipulation |
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- pick-and-place |
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- so101 |
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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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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Summary |
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- **Task:** Move a **red block** into a **white box** (block-in-bin / pick-and-place). |
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- **Scene setup:** The **block and the box stay in the same fixed positions** across episodes. |
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- **Variation:** The **red block orientation (rotation) changes** between episodes, while its position remains the same. |
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- **Learning goal:** Provide a clean baseline dataset for imitation learning and debugging robot learning pipelines with minimal scene variation. |
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## Supported Tasks and Use Cases |
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This dataset is primarily intended for: |
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- **Imitation learning / behavior cloning** (learning a policy from demonstrations). |
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- **Policy evaluation and benchmarking** in a low-variance environment. |
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- **Ablations** (e.g., impact of rotation variation on grasp strategy). |
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- **Sanity checks** for data loading, temporal stacking/windowing, and training loops. |
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## Task Description |
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**Instruction:** “Place the red block into the white box.” |
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A typical episode consists of the robot starting from a resting pose, approaching the block, grasping it, moving to the box, releasing the block into the box, and optionally returning to rest. |
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Because the block position is constant and only its rotation varies, the task focuses on: |
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- grasp approach robustness to **object yaw/roll/pitch** changes (depending on how rotation was applied), |
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- consistent placement motion into a fixed receptacle. |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v3.0", |
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"robot_type": "so_follower", |
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"total_episodes": 50, |
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"total_frames": 23914, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 200, |
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"fps": 30, |
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"splits": { |
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"train": "0:50" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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"features": { |
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"action": { |
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"dtype": "float32", |
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"names": [ |
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"shoulder_pan.pos", |
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"shoulder_lift.pos", |
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"elbow_flex.pos", |
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"wrist_flex.pos", |
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"wrist_roll.pos", |
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"gripper.pos" |
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], |
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"shape": [ |
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6 |
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] |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"names": [ |
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"shoulder_pan.pos", |
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"shoulder_lift.pos", |
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"elbow_flex.pos", |
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"wrist_flex.pos", |
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"wrist_roll.pos", |
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"gripper.pos" |
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], |
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"shape": [ |
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6 |
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] |
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}, |
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"observation.images.gripper": { |
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"dtype": "video", |
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"shape": [ |
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1080, |
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1920, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 1080, |
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"video.width": 1920, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.top": { |
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"dtype": "video", |
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"shape": [ |
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1080, |
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1920, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 1080, |
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"video.width": 1920, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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📊 Interested in the dataset? Contact Unidata to discuss purchase terms: [https://unidata.pro](https://unidata.pro/datasets/lerobot-so-101-manipulations/?utm_source=huggingface-Martsinian&utm_medium=referral&utm_campaign=record-red-block) |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
