Project-IRA/TPSoSe2026_Dataset_Full_Merged_Final_LeRobot_SO101_V1

SO-101 Multi-Task Dataset — 930 episodes (merged, final)

The primary training dataset for Project-IRA: 930 teleoperated SO-101 episodes across four manipulation tasks, with 93 distinct English prompt phrasings. Every multi-task model in the organization was trained on this dataset.

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

Episodes	930
Distinct task prompts	93
LeRobot codebase version	v3.0
Robot type	so_follower (SO-101, 6-DOF)
Control frequency	30 fps
Language	English

| Total frames | 844,208 (7.8 hours at 30 fps) | | Average episode | ~908 frames (30 s) |

Composition

Merged from 93 source recording sessions, one per prompt, 10 episodes each.

Task	Episodes	Prompts	Source dataset
Sort Lego Color	460	46	Dataset_Lego
Desk Cleanup	250	25	Dataset_Desk_Cleanup
Dice Throw	120	12	Dataset_Dice_Throw
Fetch Ball	100	10	Dataset_Fetch_Ball
Total	930	93

The standalone Desk Cleanup dataset contains 350 episodes, but only 250 are in this merge. Ten early recording sessions (100 episodes, from the V2/V3 "redundant" splits) were excluded from final training — they used a different coloured bowl and a messier scene setup that did not match the later protocol.

Processing applied during merge

• B-frame fixing on the encoded videos, so frames decode deterministically at the index LeRobot asks for. Without this, frame lookups can return the wrong frame.
• AV1 boundary patching for episode/segment boundaries in AV1-encoded source video.
• Parquet integrity validation across all merged chunks.

The Hugging Face dataset viewer on this repo surfaces the video-file table (55 rows: 26 desk_view + 29 wrist_left files) rather than the 844,208 frame rows. This is a viewer artefact of the LeRobot v3.0 chunked layout, not a sign of missing data — load the dataset with LeRobotDataset to see the full contents.

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.

Schema

Feature	dtype	shape
observation.state	float32	(6,) — shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.desk_view	video	(600, 800, 3), h264, 30 fps
observation.images.wrist_left	video	(480, 640, 3), h264, 30 fps
action	float32	(6,) — same joint layout as state
timestamp, frame_index, episode_index, index, task_index	—	bookkeeping

Recording protocol

• Recorded by teleoperating the SO-101 follower with an SO-101 leader arm.
• 10 episodes per prompt. The prompt phrasing was deliberately changed roughly every 10 episodes, so language conditioning sees many surface forms of the same intent.
• Object positions and scene difficulty were varied systematically within each block (e.g. early episodes with a single object, later ones with several).
• Recovery behaviour is incidental. Where the operator made a mistake mid-episode and corrected it, that correction stayed in the data. No recovery episodes were scripted deliberately, so recovery coverage is uneven.

Prompts

All 93 prompts, in English. Each was used for exactly 10 episodes.

Sort Lego Color (46 prompts, 460 episodes)

1. Sort the lego by color
2. Put each lego on the plate that's the same color as it
3. Pick up the legos and sort them onto the right color plate
4. Move all the legos to the plate that matches their color
5. Take each lego and set it on the plate with the matching color
6. Put red lego on red plate
7. Move the red lego brick to the red plate
8. Pick up the red lego and put it in the red area
9. Sort the red lego bricks onto the red plate
10. Take only all red bricks and place them on the red plate
11. Put the green lego onto the green plate
12. Move the green lego brick to the green plate
13. Pick up the green lego and put it in the green area
14. Sort the green lego bricks onto the green plate
15. Take only all green bricks and place them on the green plate
16. Put the yellow lego brick onto the yellow plate
17. Move the yellow lego to the yellow plate
18. Pick up the yellow lego and put it into the yellow area
19. Sort the yellow lego bricks onto the yellow plate
20. Take only all yellow bricks and place them on the yellow plate
21. Put the blue lego brick onto the blue plate
22. Move the blue lego to the blue plate
23. Pick up the blue lego and put it in the blue area
24. Sort the blue lego bricks onto the blue plate
25. Take only all blue bricks and place them on the blue plate
26. Place each lego brick on the plate that matches its color
27. Pick up the lego bricks and sort them onto the correct color plate
28. Move all lego bricks to their matching colored plate
29. Organize the lego bricks by placing each one on its corresponding color plate
30. Take each lego brick and put it on the plate with the same color
31. Put red lego in red plate
32. Sort the red lego brick in the red plate
33. Put blue lego in blue plate
34. Pick the blue brick up and put it in the blue plate
35. Put yellow lego in yellow plate
36. Take the yellow lego and put it into the yellow plate
37. Put green lego in green plate
38. Sort the green lego into the green plate
39. Sort the yellow brick onto the yellow plate
40. Put all yellow lego bricks onto their matching yellow bowl
41. Place the red lego brick onto the red plate
42. Grab the red block and drop it on the red tray
43. Transfer the green lego to the green plate
44. Lift the green block and place it in the green bowl
45. Deposit the blue lego brick onto the blue plate
46. Put the blue lego bricks into the blue bowl

Desk Cleanup (25 prompts, 250 episodes)

1. Put all objects from the desk into the bowl
2. Clear the desk by placing all items into the green bowl
3. Move everything on the desk into the bowl next to the arm
4. Pick up all objects on the desk and drop them into the bowl
5. Tidy up the desk by putting all items into the bowl to the right
6. Place all items from the desk into the green bowl on the right side
7. Remove all objects from the desk and put them in the bowl
8. Clear the workspace by moving all objects into the nearby bowl
9. Pick up each object on the desk and place it into the green bowl
10. Put everything from the desk into the bowl directly to the right of the arm
11. Sweep the desk clean by placing all items into the bowl
12. Move all objects on the desk into the green bowl beside the robot
13. Collect all items from the desk and deposit them into the bowl to the right
14. Take each object off the desk and drop it into the green bowl next to the arm
15. Clear the desk by picking up each object and placing it into the bowl nearby
16. Grab every item on the desk and toss it into the green bowl
17. The desk needs to be cleared, move all objects into the bowl
18. Sort all desk items into the bowl sitting beside the robot arm
19. Make the desk empty by relocating all items into the bowl next to you
20. Transfer the objects from the desk surface into the green bowl nearby
21. Take the marker and put it in the bowl
22. Pick up the keys and put them in the bowl
23. Grab a lego brick and drop it into the bowl
24. Place the ball into the bowl to clear the desk.
25. Clean the desk by putting the dice into the bowl

Dice Throw (12 prompts, 120 episodes)

1. Pick up the cup and throw the dice onto the table
2. Roll the dice using the cup
3. Grasp the cup and lift it and tip it over to release the dice
4. Empty the dice cup onto the flat surface
5. Reach for the dice container and pick it up and toss the contents across the table
6. Take the cup with the dice inside and flip it to pour them out
7. Throw the dice on the table
8. Generate true random numbers by throwing the cup with dice
9. Pick up the cup and roll the dice into the center of the workspace
10. Grab the dice cup and cast the dice onto the open table area
11. Grab that cup and let the dice fly onto the desk
12. Perform a dice roll by picking up and turning the cup over

Fetch Ball (10 prompts, 100 episodes)

1. Fetch the ball and put it into my hand
2. Bring the ball back into my hand
3. Retrieve the ball and drop it into the waiting hand
4. Put the ball into the open hand
5. Carry the ball and set it down in the waiting palm
6. Pass the ball to the waiting hand
7. Fetch the ball
8. Find the ball on the desk and put it in the hand
9. Grab the multicolored ball and then drop it gently into the hand
10. Pick up the round ball and place it into the hand

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("Project-IRA/TPSoSe2026_Dataset_Full_Merged_Final_LeRobot_SO101_V1")
print(ds.meta.info)

Train a policy on it:

lerobot-train \
    --policy.path=lerobot/smolvla_base \
    --dataset.repo_id=Project-IRA/TPSoSe2026_Dataset_Full_Merged_Final_LeRobot_SO101_V1 \
    --batch_size=64 --steps=200000 \
    --policy.device=cuda

Models trained on this dataset

Model	Best checkpoint	Quality
Pi05 V7 Full V2	008000	Works really well
Pi05 V7 Full	010000	Works really well
SmolVLA V6 Full	~150000	OK-ish
SmolVLA V5 Full	100000	Works, worse than V6

Limitations

• Single environment. One desk, one lighting setup, one camera geometry, one set of physical objects. Policies trained here should not be expected to transfer.
• Teleoperated demonstrations vary in quality and speed between operators and sessions.
• Recovery coverage is uneven — see the recording protocol note above.
• No held-out split. The dataset ships as a single train split; all episodes were used for training. Evaluation was done by running policies on the physical arm.

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); the LeRobot dataset format and tooling remain under their original licence.

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}}
}