| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - teleoperation |
| - human-in-the-loop |
| - seeed-rebot |
| - portal |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # portal-rebot-pick-microcontroller |
|
|
| A [LeRobot](https://github.com/huggingface/lerobot) dataset of a 6-DOF arm picking a |
| microcontroller and placing it in a box. Episodes were collected by teleoperating a real |
| robot over the network with [LiveKit Portal](https://github.com/livekit/portal), using a |
| human-in-the-loop recording loop that aligns camera frames and joint state into clean, |
| synchronized trajectories. |
|
|
| **Task:** `Pick the microcontroller and place it in the box` |
|
|
| ## At a glance |
|
|
| | | | |
| |---|---| |
| | Robot | Seeed reBot Arm B601-DM (`seeed_b601_dm_follower`) | |
| | Episodes | 50 | |
| | Frames | 27,502 | |
| | FPS | 30 | |
| | Cameras | `arm_camera`, `overhead_camera` (640×480 RGB, AV1) | |
| | LeRobot codebase version | v3.0 | |
| | License | Apache-2.0 | |
|
|
| ## Features |
|
|
| - **`observation.state`** — 7 absolute joint positions (degrees): `shoulder_pan`, |
| `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_yaw`, `wrist_roll`, `gripper`. |
| - **`action`** — same 7 joint positions, the commanded targets (from human teleop or a |
| policy during handoff). |
| - **`observation.images.arm_camera`** — arm-mounted RGB camera, 640×480, 30 fps. |
| - **`observation.images.overhead_camera`** — overhead RGB camera, 640×480, 30 fps. |
|
|
| ## How it was collected |
|
|
| Data was recorded with LiveKit Portal's human-in-the-loop pipeline: a robot publishes |
| camera frames and joint state, an operator (human teleoperator and/or policy) drives it, |
| and every executed action is recorded tagged with its sender. The synchronizer stitches |
| the separately-arriving camera and state streams back into one coherent snapshot per tick |
| before writing each frame to the `LeRobotDataset` episode. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("binhpham/portal-rebot-pick-microcontroller") |
| print(dataset) |
| print(dataset[0]) |
| ``` |
|
|
| ## Versions |
|
|
| - **v3** — 50 episodes. A stray, partially-recorded frame fragment (from an accidental |
| record toggle) was dropped during repacking; all 50 intended episodes are intact. |
|
|
