Project-IRA/TPSoSe2026_Dataset_Collection_LeRobot_SO101

SO-101 Early Collection (superseded)

The project's first, miscellaneous recordings, made before the team settled on four fixed tasks, a consistent recording protocol, and systematic prompt variation.

This dataset is superseded and not recommended for training. It is retained for provenance and to document the project's history. The only model trained on it — SmolVLA V1 Misc — does not work.

Part of Project-IRA — Interactive Robotic Arm. Code: https://github.com/Project-IRA/interactive-robotic-arm

Use these instead

Dataset	Episodes	Content
Full Merged Final V1	930	The actual training set — all four tasks, 93 prompts
Lego	460	Colour sorting
Desk Cleanup	350	Desk clearing
Dice Throw	120	Dice cup
Fetch Ball	100	Ball handover

Why it was superseded

The early recordings mixed several exploratory task ideas that were later dropped — including putting a ball on a plate, putting a box on a marked X, waving, and placing a chess piece on a Rubik's cube. Episode counts per task were small and inconsistent, and prompts were not varied systematically.

Fine-tuning on this data produced a model that was useless at essentially everything. That negative result is what motivated the structured protocol used for every later dataset: four fixed tasks, exactly 10 episodes per prompt, deliberate prompt variation every 10 episodes, and documented object-placement schemes.

Robot setup

Robot	SO-101 follower arm (6-DOF), robot_type: so_follower
Teleoperation	SO-101 leader arm
Control frequency	30 fps
State / action space	6-dim: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
Camera observation.images.desk_view	800x600, h264 (recording)
Camera observation.images.wrist_left	640x480, h264 (recording)

Inference note: both cameras are run at 640x480 during inference, not at their recording resolutions, to reduce the payload sent to the inference server.

Licensing

Released under CC BY-SA 4.0. This is a share-alike licence: you may use, share and adapt this dataset, including commercially, provided you give attribution and release any derivative dataset under the same licence. It cannot be taken closed-source.

Recorded with LeRobot (Apache-2.0).

Citation

@misc{project_ira_2026,
  title        = {Project-IRA: Interactive Robotic Arm},
  author       = {Baten, Cleo and Keppler, Bela and Sapper, Jonas},
  year         = {2026},
  howpublished = {\url{https://huggingface.co/Project-IRA}},
  note         = {Code: \url{https://github.com/Project-IRA/interactive-robotic-arm}}
}