| --- |
| 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](https://github.com/huggingface/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 |
|
|
| ```python |
| 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: |
|
|
| ```bash |
| 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](https://github.com/huggingface/lerobot) and this repository. |
