manavgoel4/package-pick-place

Package Pick Place

LeRobot dataset for package/kit pick-and-place manipulation with a reBot arm setup. The dataset contains 151 recorded episodes at 10 Hz with top and wrist camera observations.

Dataset Summary

• Episodes: 151
• Frames: 52,659
• Dataset FPS: 10
• Cameras: observation.images.top, observation.images.wrist
• Camera resolution: 640 x 480
• Action/state dimensions: 7 joints
• Task prompts: 15

Task Prompts

Charger Placement

Episodes 0-50. The first four prompt variants cover 10 episodes each; the fifth covers 11 episodes because this block contains one extra recorded charger episode.

Task Index	Prompt
0	Pick up the charger and place it into the circular space inside the package.
1	Place the charger into the circular compartment inside the package.
2	Move the charger to the round space in the package tray.
3	Put the charger into its matching circular slot in the box.
4	Insert the charger into the circular space in the package.

Cylindrical Tool Placement

Episodes 51-100. Each prompt variant covers 10 episodes.

Task Index	Prompt
5	Pick up the cylindrical tool and place it into its matching compartment in the box.
6	Place the cylindrical tool into its matching compartment in the box.
7	Move the cylindrical tool to its correct slot in the box.
8	Put the cylindrical tool into the compartment that matches its shape.
9	Insert the cylindrical tool into its designated space in the box.

Rectangular Tool Box Placement

Episodes 101-150. Each prompt variant covers 10 episodes.

Task Index	Prompt
10	Pick up the rectangular tool box and place it into the rectangular space in the box.
11	Place the rectangular tool box into its matching rectangular compartment in the box.
12	Move the rectangular tool box to the rectangular slot in the box.
13	Put the rectangular tool box into the correct rectangular space in the package box.
14	Insert the rectangular tool box into its designated rectangular compartment.

Notes

Episode indices are zero-based. Human episode 51 corresponds to episode_index=50, which is the extra charger episode noted above.