---
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}
}
```