Datasets:
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action list | observation.state list | timestamp float32 0 26 | frame_index int64 0 780 | episode_index int64 0 121 | index int64 0 50.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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-20.043956756591797,
100.48351287841797,
29.934066772460938,
25.978351593017578
] | [
-13.09890079498291,
-1.186813235282898,
-11.296703338623047,
91.69230651855469,
26.593406677246094,
22.439023971557617
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
pick-red-cube
A teleoperated SO-101 (baby_gewu) manipulation dataset: "Grab the red cube
and put it in the box." Recorded with a leader/follower SO-101 pair; the
follower's joint states and three rig cameras (top / wrist / side →
camera1 / camera2 / camera3) are captured per episode. Intended for
finetuning SmolVLA-class policies.
- Robot:
so_follower(SO-101), 6-DoF (shoulder_pan,shoulder_lift,elbow_flex,wrist_flex,wrist_roll,gripper) - Episodes: 122
- Frames: 50,355
- FPS: 30
- Cameras: 3 × 640×480 (top / wrist / side)
- Format: LeRobot v3.0
Episode breakdown
All episodes share the same task string; the failure-recovery split below is tracked by episode index, not encoded in the per-episode task field. Episodes 92–121 were added to teach corrective behavior (the clean-only set never shows the policy how to recover from a bad approach).
| Episodes | Kind | Count |
|---|---|---|
| 0–91 | Pristine — clean approach, clear the cube, grasp center-of-faces | 92 |
| 92–101 | Corner grasp — grabbing a corner, cube slides, recover + regrasp | 10 |
| 102–111 | Pushing into the table — fingertip contact, back off, re-approach | 10 |
| 112–121 | Air grasp — closing beside/above the cube, re-center + regrasp | 10 |
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