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strawberry_picking_dataset_scara_extra

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lerobot
robotics
imitation-learning
visuomotor-policy
agricultural-robotics
strawberry-picking
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observation.state
list
action
list
timestamp
float32
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29.4
frame_index
int64
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883
episode_index
int64
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658
index
int64
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task_index
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End of preview. Expand in Data Studio

Strawberry Picking Dataset — SCARA Extra

Relationship to the paper: These are extra SCARA demonstrations collected for other tasks and experimental setups. None of the data in this repository were used in the training, evaluation, or other experiments reported in Learning to Pick: A Visuomotor Policy for Clustered Strawberry Picking. The paper is cited as related context for the robot platform and research area.

LeRobot v3.0 dataset converted from ACT/ALOHA HDF5 demos on 2026-08-23 07:46:08. fps=30 (true wrist-camera-driven capture rate, re-stamped from nominal 50 via stream-copy remux — frames bit-identical); videos av1/crf30/g2/yuv420p (lerobot defaults); vectors float32 bit-exact; stored-BGR frames flipped to RGB (see manifest flipped_bgr_to_rgb per session).

  • Episodes: 659 (127,470 frames, 1.36 GB)
  • Split: all
  • Cameras: top, wrist, wrist_down
  • Vector features: state 4D, action 5D

What this dataset is

All 8 SCARA real-robot datasets merged into ONE dataset with a unified RGB camera schema {top, wrist, wrist_down} (IR streams excluded here — they stay in the per-dataset originals). Cameras a session never had are black-filled so the schema is uniform; see synthetic_cameras per session in manifest.json / provenance.json.

  • top is real only in scara_1_sb_3cam (eps 513-563); black elsewhere
  • wrist_down is black only in scara_whiteboard_pick_one (eps 564-658)
  • wrist is real in every episode

Segmentation (contiguous episode ranges per source dataset)

Source dataset Episodes Episode indices Frames Task string prefix
scara_mag_fruit_block 175 0-174 32,681 scara_mag_fruit_block/
scara_pick_onefruit_block 93 175-267 22,469 scara_pick_onefruit_block/
scara_pick_realfruit_block 51 268-318 10,929 scara_pick_realfruit_block/
scara_shunba 66 319-384 14,985 scara_shunba/
scara_whiteboard_pick_under_leaf 72 385-456 14,833 scara_whiteboard_pick_under_leaf/
scara_whiteboard_updown_pick_one 56 457-512 9,209 scara_whiteboard_updown_pick_one/
scara_1_sb_3cam 51 513-563 6,551 scara_1_sb_3cam/
scara_whiteboard_pick_one 95 564-658 15,813 scara_whiteboard_pick_one/

Each episode's task string is <source_dataset>/<session_alias> (21 unique), so any slice of the dataset can be traced back to its recording session; exact per-session ranges, source h5 paths and per-episode files are in provenance.json and manifest.json.

Example camera views per segment

One mid-episode frame per source segment, decoded from this dataset's stored videos (files in assets/; episode index shown). Cells marked (black-filled) are synthetic zero frames — that camera did not exist in the source recording.

scara_mag_fruit_block — eps 87 (of 0–174)

top (black-filled) wrist wrist_down

scara_pick_onefruit_block — eps 221 (of 175–267)

top (black-filled) wrist wrist_down

scara_pick_realfruit_block — eps 293 (of 268–318) — real strawberries

top (black-filled) wrist wrist_down

scara_shunba — eps 351 (of 319–384)

top (black-filled) wrist wrist_down

scara_whiteboard_pick_under_leaf — eps 420 (of 385–456)

top (black-filled) wrist wrist_down

scara_whiteboard_updown_pick_one — eps 484 (of 457–512)

top (black-filled) wrist wrist_down

scara_1_sb_3cam — eps 538 (of 513–563) — the only real top camera

top wrist wrist_down

scara_whiteboard_pick_one — eps 611 (of 564–658) — wrist_down black-filled

top (black-filled) wrist wrist_down (black-filled)

Per-episode provenance (file names, frame counts, skipped val files) is in manifest.json.

fps re-stamped 50 -> 30: corrected to true capture rate

Loading with LeRobot 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="zfff/strawberry_picking_dataset_scara_extra"
)

print(dataset.num_episodes)  # 659
sample = dataset[0]
print(sample["observation.state"].shape)          # (4,)
print(sample["action"].shape)                     # (5,)
print(sample["observation.images.wrist"].shape)  # (3, 480, 640)

An AV1-capable video backend is required. LeRobot may use TorchCodec or fall back to PyAV depending on the local installation.

Citation

For related platform and research context, please cite the same paper as the strawberry_picking_dataset_scara_clustered dataset. As noted above, this extra dataset was not used in that paper's experiments.

@article{fei2026learning,
  title={Learning to Pick: A Visuomotor Policy for Clustered Strawberry Picking},
  author={Fei, Zhenghao and Lu, Wenwu and Hou, Linsheng and Ye, Zunzhong and Peng, Chen},
  journal={IEEE Transactions on AgriFood Electronics},
  year={2026},
  publisher={IEEE}
}

Paper: https://arxiv.org/abs/2509.14530
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Number of rows:
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Total file size:
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Paper for zfff/strawberry_picking_dataset_scara_extra