---
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.