Datasets:
metadata
task_categories:
- robotics
tags:
- LeRobot
- robotics
- robot-learning
- imitation-learning
- manipulation
- pick-and-place
- so101
- domain-randomization
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Summary
- Task: Move a red block into a white box (pick-and-place / block-in-bin).
- Scene setup: The white box remains fixed in the workspace.
- Variations across episodes:
- Red block position randomization: The block starts at different positions within a small neighborhood around the nominal start location (small translations).
- Lighting variation: Ambient illumination changes slightly between episodes (e.g., intensity and/or direction), while the scene layout remains the same.
- Learning goal: Encourage policies that are robust to small spatial shifts and appearance changes from lighting.
Supported Tasks and Use Cases
This dataset is suitable for:
- Imitation learning with moderate domain randomization.
- Visual robustness experiments (sensitivity to illumination changes).
- Generalization evaluation for pick-and-place under small distribution shifts.
- Baseline comparisons against:
- fixed block position / fixed lighting datasets,
- block-rotation-only datasets,
- position-randomized-only datasets.
Task Description
Instruction: “Place the red block into the white box.”
A typical episode includes: approach the block → grasp → move to the box → release into the box → optional return to rest.
With position randomization and lighting variation, successful policies should:
- localize the block under changing appearance,
- plan motion conditioned on current block position,
- maintain grasp reliability when shadows/highlights vary.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 50,
"total_frames": 20724,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.gripper": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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