| --- |
| 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} |
| } |
| ``` |
|
|
