File size: 4,491 Bytes
7562a45 5dc71b2 7562a45 5dc71b2 7562a45 5d2fadd 7562a45 5d2fadd 7562a45 5d2fadd 7562a45 5d2fadd 7562a45 5d2fadd 7562a45 5d2fadd 7562a45 de940ab 7562a45 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 | ---
language:
- en
license: mit
pretty_name: LeRobot SO101 Pick Place
task_categories:
- robotics
size_categories:
- 1K<n<10K
tags:
- LeRobot
- so101
- pick-and-place
- manipulation
- robotics
- robot-learning
- imitation-learning
- behavior-cloning
- video
- image
---
# LeRobot-SO101-Pick-Place
## Dataset Summary
LeRobot dataset for SO101 pick-and-place with three sponge manipulation tasks and fixed/random object layouts. The dataset is intended for imitation learning, behavior cloning, policy evaluation, and robustness studies under layout changes.
## Supported Tasks
- Imitation learning
- Behavior cloning
- Policy evaluation
- Robustness to layout changes
## Dataset Structure
The dataset is organized into three task groups:
- `task1-single-sponge-no-distractors`
- `task2-multiple-sponges-no-distractors`
- `task3-single-sponge-with-distractors`
Each task contains two location splits:
- `fixed-locations`: layouts drawn from 6 fixed workspace locations
- `random-locations`: layouts with randomized locations
Each split keeps the LeRobot directory structure:
- `data/`
- `meta/`
- `videos/`
## Visualizable Child Datasets
Each split is also published as its own root-level LeRobot dataset repo so it can be used directly with the LeRobot visualizer:
- [LeRobot-SO101-task1-single-sponge-no-distractors-fixed-locations](https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-task1-single-sponge-no-distractors-fixed-locations)
- [LeRobot-SO101-task1-single-sponge-no-distractors-random-locations](https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-task1-single-sponge-no-distractors-random-locations)
- [LeRobot-SO101-task2-multiple-sponges-no-distractors-fixed-locations](https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-task2-multiple-sponges-no-distractors-fixed-locations)
- [LeRobot-SO101-task2-multiple-sponges-no-distractors-random-locations](https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-task2-multiple-sponges-no-distractors-random-locations)
- [LeRobot-SO101-task3-single-sponge-with-distractors-fixed-locations](https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-task3-single-sponge-with-distractors-fixed-locations)
- [LeRobot-SO101-task3-single-sponge-with-distractors-random-locations](https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-task3-single-sponge-with-distractors-random-locations)
## Task Definitions
### `task1-single-sponge-no-distractors`
Single sponge pick-and-place with no distractor objects.
### `task2-multiple-sponges-no-distractors`
Multiple sponge pick-and-place with no distractor objects.
### `task3-single-sponge-with-distractors`
Single sponge pick-and-place with distractor objects present in the scene.
## Split Details
### `fixed-locations`
This split corresponds to the previously named `known` split. It uses fixed workspace layouts from 6 predefined locations.
### `random-locations`
This split corresponds to the previously named `unknown` split. It uses randomized workspace layouts.
## Episode Distribution
### Task 1
- `fixed-locations`: 64 night episodes
- `random-locations`: 49 night episodes, 15 morning episodes
### Task 2
- `fixed-locations`: 32 morning episodes, 32 night episodes
- `random-locations`: 32 morning episodes, 32 night episodes
### Task 3
- `fixed-locations`: 32 morning episodes, 32 night episodes
- `random-locations`: 32 morning episodes, 32 night episodes
## Data Collection
The dataset was collected on a real SO101 leader robot. Observations include two camera views:
- overhead camera
- wrist camera
Task prompts are in English. The dataset card currently leaves the exact recorded action/control representation unspecified.
## Intended Use
This dataset is intended for:
- imitation learning
- behavior cloning
- policy evaluation
- robustness experiments under location changes
## Limitations
- only 3 tasks are included
- only sponge objects are used
- camera placement is fully fixed
- lighting conditions are limited to the collected morning and night settings
## Creator
Created by Aswinkumar.
- Website: [aswinkumar.me](https://aswinkumar.me)
## Citation
If you use this dataset, please cite the dataset repository and credit the creator:
```bibtex
@misc{aswinkumar_lerobot_so101_pick_place,
title = {LeRobot-SO101-Pick-Place},
author = {Aswinkumar},
howpublished = {\url{https://huggingface.co/datasets/aswinkumar99/LeRobot-SO101-Pick-Place}},
year = {2026}
}
```
|