so101-pick-cube_20261023_205608

Early pick recording (23 October, first recorder version).

Part of a quality-control pipeline built at the Robotekin LeRobot Hackathon 2026: an SO-101 arm picks a metal part, a vision model checks whether it has a pin, and a sorting policy drops it in the green box (with pin) or the white box (without pin). This dataset belongs to Warm-up recording (before the final task definition).

Naming note: good / bad describe the part, not the quality of the demonstration. GOOD = part with a pin → green box. BAD = part without a pin (defective) → white box. up-down-bad_* datasets are successful demonstrations of carrying a defective part to the white box. No failed or negative demonstrations were intentionally recorded. Other informal names: so101-pick-cube_* contains the metal bracket, not a cube, and up-down_* is the GOOD-box sorting task (except the 23 October sessions, see below).

What this dataset contains

Recorded on 23 October with the first version of the recorder, before the pipeline was fixed. The stored task string reads "Pick up the cube and place it in the bowl". According to the team's dataset build script, these early pick episodes end with the part dropped in the bin rather than held up to the camera, so they are excluded by default and only partly used. These sessions have no meta/recording_notes.json.

Stored task	"Pick up the cube and place it in the bowl"
Episodes	6 (527 frames, 52.7 s in total)
Recorded	2026-10-23 20:56
Frame rate	10 fps
Cameras	observation.images.front, observation.images.wrist (1280x720 RGB)
State / action	observation.state / action, 6 values each
Object locations	not recorded (no meta/recording_notes.json)

How it was used

• Training data of the first experiment, pick_v0_mixed in MikelRubi/act-pick (pick and return trips mixed in one policy, superseded).
• Later MikelRubi/act-pick versions take a filtered subset of the 23 October pick episodes (v2 and most v3 runs include 12 of them at 30 fps; v3_super also includes the 10 fps sessions, up-sampled). Which episodes of this session passed the filters is not recorded on the Hub.
• The end frames of its pick episodes were labelled by eye as pin / nopin and used to train MikelRubi/pin-classifier.

Pipeline

tray  ──► act-pick ──► part held up to the camera ──► pin-classifier ──┬─ pin    (GOOD) ──► act-up-down-good ──► green box
                                                                      └─ no pin (BAD)  ──► act-up-down-bad  ──► white box

Related models: MikelRubi/act-pick → MikelRubi/pin-classifier → MikelRubi/act-up-down-good | MikelRubi/act-up-down-bad. Project page: MikelRubi/robotekin-so101-pin-sorting. On the robot the stages are chained by the team's demo app (30_full_demo_app.py); during recording the operator chose the box after looking at the part. The box for each result is set by the operator's order; the usual order is shown above.

Recording setup

• Robot: SO-101 follower arm (LeRobot so_follower, 6 joints including the gripper), teleoperated with an SO-101 leader arm (leader/follower). The policies never see the leader; action is the leader position sent to the follower.
• Cameras: two USB RGB cameras, front (fixed overhead camera looking down at the tray) and wrist (mounted on the gripper).
• Joints (state and action, same order): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper. Arm joints in degrees, gripper 0–100 (LeRobot SO-101 calibration).
• Format: LeRobot dataset v3.0, H.264 video. Recorded on 23–24 October 2026 at the Robotekin LeRobot Hackathon (Robotory, Vitoria-Gasteiz).

Known limitations

• A single short recording session in one room and lighting setup. No success labels are stored: every saved episode is treated as a successful demonstration.
• Camera models and their exact mounting positions are not documented in the dataset.
• Recorded at 10 fps and 1280x720, unlike the later 30 fps / 640x480 sessions; training scripts up-sample and crop it to combine both.

Acknowledgements

Recorded by Iker Azurmendi, Mikel Zulueta, Ander Autillo and Diego Suarez during the Robotekin LeRobot Hackathon 2026 (23–25 October 2026, Vitoria-Gasteiz). Thanks to Bravo Robots and to Robotekin for the hackathon, to Hugging Face for LeRobot, and to everyone who took part in it.