metadata
license: apache-2.0
task_categories:
- robotics
task_ids:
- grasping
tags:
- lerobot
- imitation-learning
- behavior-cloning
- manipulation
- pick-and-place
- so-arm101
configs:
- config_name: view_above
data_files:
- view_above/**
- config_name: view_side
data_files:
- view_side/**
SO-ARM101 Pick-and-Place Dataset
This dataset contains teleoperated pick-and-place demonstrations collected on the SO-ARM101 6-DoF robotic arm using the LeRobot framework.
Task
Grasp a red cube and place it into a gray bowl.
Views
The dataset is organized into two subsets corresponding to different camera viewpoints:
- view_above/: Top-down camera view (30 episodes)
- view_side/: Side-view camera view (30 episodes)
Each subset contains independent demonstrations of the same task under a fixed camera setup.
Data Collection
- Robot: SO-ARM101 (6-DoF, Feetech servos)
- Episodes: 60 total
- Collection: Leader–follower teleoperation
- Observations: RGB images, proprioception, actions