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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Task description
The objective of the task is to grasp and place colored cubes in a 2x2 grid, using a SO-101 robot arm. Two cameras were used to visualize the scene.
The task to achieve is decomposed in three sub-tasks ordered by difficulty:
- level 1: pick a single black cube and place it in a cell of the 2x2 grid. The cell is indicated by a black cross and is always at the same position (top-left cell).
- level 2: same as level 1 but the target cell can be any cell in the 2x2 grid.
- level 3: pick two cubes (one black and one green) and place them on the cells marked with the corresponding colored crosses in the 2x2 grid.
Each level was the occasion to record a new dataset specific to the level to complete.
Dataset Description
This dataset contains a set of teleoperated demonstrations collected during a two-day hackathon using the LeRobot library and SO-101 robot arms in a leader–follower setup. Each episode shows the follower arm picking two colored cubes and placing them onto the matching colored crosses inside a 2×2 grid.
Two RGB cameras were used: one facing the follower arm and one looking at the follower arm from a +45° perspective.
The background was masked with cardboard and wood panes. Ambient lighting varied throughout the day.
Episode Protocol
1- Start with the black cube: grasp and place it on the cross
2- Go back to the starting position.
3- Repeat with the green cube (task 3).
4- Go back to the starting position.
Variability
Data were recorded with 3 different persons that manipulates the leader arm, each one with its own "style".
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