Oskrt/haller_open_the_box

Haller (XLeRobot): open the box by pulling its handle

Code, results and demo videos: github.com/Javgilavi/liminal (team Liminal, ERH Physical AI Hackathon 2026).

Recorded on 18 October 2026 at the ERH Physical AI Hackathon (track "Imagine, Then Act", FLUX 3 Action), skill 1 of our final demo chain.

• Task string (verbatim): open the box by pulling its handle
• Episodes / frames: 75 / 31,678 at 30 fps (LeRobot dataset format v3.0)
• Task arm: the robot RIGHT arm (left_* columns, left_wrist camera). The pen arm stays parked (folded; its pose changed once at take 7, noted in the split).
• Each take starts with the box closed and the box arm at home, and ends with the box arm still holding the lid open (releasing it closes the lid, so the takes deliberately do not return home).
• Box positions: P1 = takes 0-2, P2 = 3-38, P3 = 39-74. Split: 59 train, held out P2 36-38 and P3 72-74, 10 dropped (lid still closed at the save, or fragments).

Robot, units and cameras

• XLeRobot upper body without the mobile base ("Haller"): two SO-101 arms (Feetech STS3215), soft TPU fin-ray fingers, Intel RealSense D455 head camera, one wrist camera per arm. Meta Quest Pro VR teleoperation (haller_ws WebXR HMI).
• Joints in LeRobot degrees mode (0 at the calibrated mid-range), gripper 0..100 (100 = open). observation.state = measured joints (12), action = commanded joint targets (12).
• Arm naming follows the operator frame of the recording stack: left_* / observation.images.left_wrist are the robot RIGHT arm (the box arm), right_* / observation.images.right_wrist are the robot LEFT arm (the pen arm).
• Cameras 640x480, h264, 30 fps: observation.images.head (not rotated), both wrist cameras rotated 180 degrees at capture.
• ws4_split.json (status final) lists the split we trained with and review.json the reasons for dropped takes. The team (waiver signed) can appear in the background.

Final demo chain (one dataset per skill)

1. Oskrt/haller_open_the_box: robot RIGHT arm opens the closed white box by its handle and keeps holding the lid.
2. Oskrt/haller_put_the_green_pen_in_the_green_slot
3. Oskrt/haller_put_the_yellow_cutter_in_the_yellow_slot
4. Oskrt/haller_put_the_red_pen_in_its_slot_in_the_cardboard_box (recorded earlier with the box arm tucked)

Skills 2 and 3 are recorded with the box arm holding the lid open at a fixed pose, the pen arm going home to home.