---
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so101
  - so_follower
configs:
  - config_name: default
    data_files: data/*/*.parquet
---

# 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](https://github.com/huggingface/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 |