Datasets:

upna
/

stack_white_blue_black

license: apache-2.0
task_categories:
  - robotics
size_categories:
  - 1M<n<10M
tags:
  - LeRobot
  - so101
  - teleoperation
  - stacking
  - pick-and-place
configs:
  - config_name: default
    data_files: data/*/*.parquet
language:
  - en
pretty_name: stack_white_blue_black

stack_3blocks_white_blue_black

Single-arm SO-101 teleoperation dataset for a 3-block stacking task (bottom → top: white, blue, black), recorded with 2 cameras in LeRobot format (v3.0).

Task

Stack the blocks from bottom to top: white, blue, black.

Pipeline: pick white → place as base → pick blue → stack on white → pick black → stack on blue → hold stable.

Scene: three blocks start flat and spread in an ~A4 workspace (randomized each episode, gap ≥5 cm); no tray / distractors.

Dataset summary

Field	Value
Robot	`so101_follower` (single SO-101 arm)
Collection	Leader–follower teleoperation
Episodes	199
Frames	122,138
FPS	30
Episode length	~~261–1079 frames (~~8.7–36.0 s), mean ~~614 frames (~~20.5 s)
Tasks	1
Split	`train`: episodes `0:199`
Format	LeRobot codebase `v3.0`
Approx. size	~690 MB

Cameras

Key	Resolution	Role
`observation.images.front`	640 × 480	Overhead / front view (UGREEN)
`observation.images.wrist`	640 × 480	Wrist camera (Sonix USB2.0 CAM1)

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

Action / state

6-DoF joint positions:

shoulder_pan.pos
shoulder_lift.pos
elbow_flex.pos
wrist_flex.pos
wrist_roll.pos
gripper.pos

Features:

action — commanded / teleop joint targets (float32, shape [6])
observation.state — measured joint positions (float32, shape [6])

Features

observation.images.front / wrist (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="my_pick_place/stack_3blocks_white_blue_black",
    root="/home/rxn/datasets/stack_3blocks_white_blue_black",
)

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

Visualize locally:

lerobot-dataset-viz \
  --repo-id my_pick_place/stack_3blocks_white_blue_black \
  --root /home/rxn/datasets/stack_3blocks_white_blue_black \
  --episode-index 0

Collection notes

Recorded with LeRobot SO-101 leader–follower teleop (get-data-stack_3blocks.sh).
Local root: /home/rxn/datasets/stack_3blocks_white_blue_black
Hub / repo id: my_pick_place/stack_3blocks_white_blue_black
Success criterion: bottom white, middle blue, top black, stack standing stably before ending the episode.
One frozen junk episode (original ep70, ~3.2 s) was removed; cleaned set is 199 episodes.
Backup with the junk episode kept at: /home/rxn/datasets/stack_3blocks_white_blue_black_with_ep70

Citation

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