Datasets:
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action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 29.5 | frame_index int64 0 886 | episode_index int64 0 127 | index int64 0 67.6k | task_index int64 0 2 |
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End of preview. Expand in Data Studio
SO-101 Pick-and-Place Unified Success v3
Curated, success-only LeRobotDataset v3.0 assembled from six public SO-101 pick-and-place recording sessions by Hee-june510. The robot, 30 Hz sampling rate, 6D state/action schema, and 640×480 top/wrist camera schema are shared across every source.
Dataset summary
| Item | Value |
|---|---|
| Episodes | 128 |
| Frames | 67,557 |
| FPS | 30 |
| Robot type | so_follower |
| Cameras | observation.images.top, observation.images.wrist |
| Image shape | 480×640×3 |
| Action/state | 6D joint positions |
| Natural-language tasks | 3 |
The dataset intentionally retains three visual and object domains:
| Domain | Episodes | Frames |
|---|---|---|
| Clear/bright mat, green bean-shaped toy, red bowl | 42 | 12,405 |
| Clear/bright mat, orange textured cube, red bowl | 40 | 35,357 |
| Black fabric/desk mat, yellow-green banana, red bowl | 46 | 19,795 |
Curation
The six sources contained 138 episodes and 74,313 frames. Ten failed, incomplete, or interrupted episodes (6,756 frames) were conservatively excluded after:
- schema, FPS, camera, action, and state compatibility checks;
- per-episode action/state motion and stationary-tail analysis;
- manual review of synchronized top and wrist video timelines;
- terminal gripper/action/state inspection; and
- exact action+state episode duplicate hashing.
Failure cases included an object still held at termination, release before completion, a no-grasp stationary episode, misgrasps that pushed the object away, and human reset frames. One truncated release was excluded conservatively with medium-high confidence; all other exclusions were high-confidence.
Full provenance and decisions are included in:
curation/episode_provenance.csvcuration/excluded_episodes.csvcuration/source_summary.csvcuration/curation_manifest.jsoncuration/suggested_domain_stratified_split.json
Important limitation
The mat change is coupled with object identity, lighting, episode length, and
recording session. This diversity is useful for robust policy training, but it
does not support a causal claim about mat-color generalization by itself.
Evaluate each domain separately. Do not create validation data by taking the
last contiguous 20% of the merged episode order, because sources are retained
in session order. A deterministic, domain-stratified 103/25 train/validation
episode split is provided in curation/suggested_domain_stratified_split.json.
Source datasets
- Hee-june510/so101_pick_place
- Hee-june510/Pick_and_place_greenbean_20260720_200723
- Hee-june510/Pick_and_place_greenbean_20260720_201043
- Hee-june510/Pick_and_place_greenbean_20260720_202856
- Hee-june510/Pick_and_place_greenbean_20260720_205213
- Hee-june510/pickplace_0807_20260807_194949
The source licenses are Apache-2.0. The empty Hee-june510/local repository
was inspected but contains no robot data and was not included.
Load with LeRobot
from lerobot.datasets import LeRobotDataset
dataset = LeRobotDataset("ddduk/so101_pick_place_unified_success_v3")
print(dataset)
This dataset was curated with LeRobot 0.6.1. Videos are AV1/YUV420p and the merged output preserves separate source shards instead of concatenating video bitstreams.
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