Datasets:

aswinkumar99
/

LeRobot-SO101-Pick-Place

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:

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

Citation

If you use this dataset, please cite the dataset repository and credit the creator:

@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}
}