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Datasets:
upna
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bimanual_stack_bowls

Tasks:
Robotics
Languages:
English
Size:
10K<n<100K
Tags:
LeRobot
bimanual
so101
teleoperation
stack-bowls
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - bimanual
  - so101
  - teleoperation
  - stack-bowls
configs:
  - config_name: default
    data_files: data/*/*.parquet
language:
  - en
pretty_name: stack bowls
size_categories:
  - 10K<n<100K

bimanual_stack_bowls_yellow_brown_white

Bimanual SO-101 teleoperation dataset for a bowl stacking task, recorded with 4 cameras in LeRobot format (v3.0).

Task

Stack the yellow bowl, then the brown bowl, and finally the white bowl.

Order: yellow → brown → white (stacking sequence).

Dataset summary

Field Value
Robot bi_so101_follower (dual SO-101 arms)
Collection Leader–follower teleoperation
Episodes 200
Frames 98,616
FPS 30
Episode length 348–768 frames (11.6–25.6 s), mean 493 frames (16.4 s)
Tasks 1
Split train: episodes 0:200
Format LeRobot codebase v3.0
Approx. size ~1.1 GB

Cameras

Key Resolution Role
observation.images.top_left 800 × 480 Overhead / left-top view
observation.images.top_right 640 × 480 Overhead / right-top view
observation.images.left 640 × 480 Left wrist camera
observation.images.right 640 × 480 Right wrist camera

All videos: H.264, 30 FPS, RGB, no audio.

Action / state

12-DoF joint positions (left arm 6 + right arm 6):

Left arm

  • left_arm_shoulder_pan.pos
  • left_arm_shoulder_lift.pos
  • left_arm_elbow_flex.pos
  • left_arm_wrist_flex.pos
  • left_arm_wrist_roll.pos
  • left_arm_gripper.pos

Right arm

  • right_arm_shoulder_pan.pos
  • right_arm_shoulder_lift.pos
  • right_arm_elbow_flex.pos
  • right_arm_wrist_flex.pos
  • right_arm_wrist_roll.pos
  • right_arm_gripper.pos

Features:

  • action — commanded / teleop joint targets (float32, shape [12])
  • observation.state — measured joint positions (float32, shape [12])

Features

  • observation.images.top_left / top_right / left / right (video)
  • observation.state
  • action
  • timestamp, frame_index, episode_index, index, task_index

Load with LeRobot 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="upna/bimanual_stack_bowls_yellow_brown_white",  # change if your Hub id differs
    root="/home/rxn/datasets/bimanual_stack_bowls_yellow_brown_white",
)

print(dataset.meta)
print(len(dataset), "frames,", dataset.num_episodes, "episodes")

Visualize locally:

lerobot-dataset-viz \
  --repo-id upna/bimanual_stack_bowls_yellow_brown_white \
  --root /home/rxn/datasets/bimanual_stack_bowls_yellow_brown_white \
  --episode-index 0

Collection notes

  • Recorded with LeRobot bimanual SO-101 leader–follower teleop (get-data-bimanual-stack-bowls.sh).
  • Local root: /home/rxn/datasets/bimanual_stack_bowls_yellow_brown_white
  • Same 4-camera setup as bimanual_handover_4cam_20260717_150424 (top_left 800×480 + three 640×480 cams).
  • Resume recording: use uppercase RESUME=1 (not Resume=1).
  • Training tip: rename map cameras if the policy expects camera1…camera4; use tolerance_s=0.05 when loading multi-cam video.

Citation

If you use this dataset, please cite LeRobot and this repository.