| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
| This dataset contains the final batch of teleoperated demonstrations collected during a two-day hackathon using the LeRobot library and SO-101 robot arms in a leader–follower configuration. |
| Each episode shows the follower arm picking two colored cubes (one after the other) and placing each into the matching colored cross within a 2×2 grid. Two RGB cameras were used: |
|
|
| Top camera: mounted above the workspace for a clear 2D view of the arm, cubes, and grid. |
|
|
| Front/low camera: slightly above the ground, facing the arm and grid to provide better z-axis cues and arm self-perception. |
|
|
| Despite cardboard backgrounding, the room’s illumination varied over time and is deliberately preserved in the data, as it proved to be a limiting factor and may be valuable for robustness research. |
|
|
| This dataset is intended for vision-based imitation learning (e.g., behavior cloning, goal-conditioned policies), multi-view fusion, and perception-control studies on tabletop manipulation. |
|
|
| ### Use Cases |
|
|
| - **Imitation Learning**: Behavior cloning from teleop demonstrations. |
|
|
| - **Multiview Perception**: Fusing top + front perspectives for depth inference without explicit depth sensors. |
|
|
| - **Robustness to Lighting**: Evaluating policy sensitivity to illumination drift. |
|
|
| - **State–Action Alignment**: Leveraging synchronized proprioception and images. |
|
|
|
|
| ## Data Collection |
|
|
| ### Teleoperation Setup |
|
|
| - **Leader–Follower**: Human teleoperates a leader arm; follower SO-101 replicates motion to generate demonstrations. |
|
|
| - **Workspace**: Tabletop with a 2×2 grid. Each cell contains a colored cross; two colored cubes must be placed on matching crosses. |
|
|
| - **Cameras**: |
|
|
| - **Top**: overhead, full scene. |
|
|
| - **Front**: low angle, emphasizes depth and arm self-pose. |
|
|
| - **Background control**: Cardboard panels; lighting varies during the day and is preserved in data. |
|
|
| ### Episode Protocol |
|
|
| 1- Move to pre-grasp; localize target cube(s) visually. |
|
|
| 2- Grasp first cube; transport; place on correct colored cross. |
|
|
| 3- Repeat for second cube. |
|
|
| 4- Return to neutral. |
|
|
|
|
| ## Known limitations |
|
|
| - **Lighting drift**: Significant variation during the day; expect distribution shift. Consider color constancy or data augmentation. |
|
|
| - **Camera motion**: Cameras are fixed for the batch, but small nudges may occur; rely on metadata intrinsics/extrinsics if provided. |
|
|
| - **Occlusions**: Self-occlusion of the gripper and cubes in certain positions, especially from left camera during close approach. |
|
|
| - **No depth**: RGB only |
|
|
|
|
| ## Additional Information |
|
|
| - **Homepage:** [deel-ai](https://www.irt-saintexupery.com/deel/) |
|
|
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "so101_follower", |
| "total_episodes": 50, |
| "total_frames": 31189, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 30, |
| "splits": { |
| "train": "0:50" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
