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Datasets:
ewinchell07
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so101-spinning-table-all

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
makermods
so101
pick-and-place
turntable
realsense
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pandas
Polars
License:
Dataset card Data Studio Files
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Episodes Preview SO-101 Visualizer
69 episodes · 30 fps · 3 cameras · 640×480 h264

This dataset was created using LeRobot.

Dataset Description

SO-101 turntable pick-and-place (robot lil_guy), September 2026.

A single SO-101 follower arm, teleoperated from an SO-101 leader arm, picks a cube off a slowly spinning turntable and places it in a basket. Two cube colours (blue, green) and two operator speeds (slow, fast). Recorded with MakerMods Lab on 2026-09-27 and 2026-09-29.

Features (30 fps):

  • observation.state: 6 follower joint positions
  • action: 6 leader joint positions
  • observation.images.head: Intel RealSense D435if RGB, 640×480, overhead view
  • observation.images.head_depth: RealSense depth aligned to the head RGB, 12-bit lossless HEVC (decode with lerobot's depth support to get millimetres; values under 20 mm mean no reading)
  • observation.images.wrist: USB wrist camera, 640×480

The four datasets. This description is shared by four datasets built from the same recordings:

Dataset Episodes Contents
ewinchell07/so101-spinning-table-all 69 every recorded episode, including the failed demos and camera defects
ewinchell07/so101-spinning-table-success-head 63 successful demos with a clean head camera (RGB + depth)
ewinchell07/so101-spinning-table-success-head-wrist 25 successful demos with clean head and wrist cameras
ewinchell07/so101-spinning-table-failures 3 the three failed demos

Source sessions:

Session Date Cube Speed Episodes
ewinchell07/so-101-poc-blue-slow_20260927_194226 2026-09-27 blue slow 15
ewinchell07/blue_slow_20260929_145703 2026-09-29 blue slow 10
ewinchell07/green_slow_20260929_150720 2026-09-29 green slow 15
ewinchell07/green_fast_20260929_151319 2026-09-29 green fast 15
ewinchell07/blue_fast_20260929_152142 2026-09-29 blue fast 14

Selection criteria:

  • Success: the cube ends in the basket, checked visually on the final frame. There are 3 failures, all with the cube knocked off the turntable.
  • Clean head camera:
    • no frozen head frames (at most 2 identical frames in a row)
    • every depth frame decodes
    • the two 2026-09-27 episodes with large teleop jumps (over 100 joint units in one frame, from a control-loop stall) are excluded
  • Clean wrist camera: at most 15% repeated frames, no hold longer than about 0.5 s, and no torn frames. The wrist camera has a failing connector. When it dropped out, the recorder held the camera's last good frame, so wrist streams outside the clean set contain frozen stretches.

Known issues:

  • 2026-09-27 session:
    • The head camera sat slightly differently; it was repositioned before 2026-09-29.
    • The wrist camera ran at about 16–20 fps, so 18–39% of its frames are repeats.
    • Episodes 7 and 14 contain the teleop jumps.
    • Episode 3's first depth frame fails random-access decoding. It is only in the all dataset.
  • The first head RGB frame of each 2026-09-29 session is overexposed while the RealSense exposure settles.
  • Task strings differ slightly between sessions, as typed at record time.

Episode provenance (new episode index ← source session episode indices):

  • so101-spinning-table-all

    • episodes 0–14 ← so-101-poc-blue-slow_20260927_194226 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
    • episodes 15–24 ← blue_slow_20260929_145703 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
    • episodes 25–39 ← green_slow_20260929_150720 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
    • episodes 40–54 ← green_fast_20260929_151319 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
    • episodes 55–68 ← blue_fast_20260929_152142 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13]

  • so101-spinning-table-success-head

    • episodes 0–11 ← so-101-poc-blue-slow_20260927_194226 episodes [0, 1, 2, 4, 5, 6, 8, 9, 10, 11, 12, 13]
    • episodes 12–20 ← blue_slow_20260929_145703 episodes [0, 1, 2, 4, 5, 6, 7, 8, 9]
    • episodes 21–35 ← green_slow_20260929_150720 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
    • episodes 36–48 ← green_fast_20260929_151319 episodes [1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
    • episodes 49–62 ← blue_fast_20260929_152142 episodes [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13]

  • so101-spinning-table-success-head-wrist

    • episodes 0–2 ← blue_slow_20260929_145703 episodes [0, 2, 5]
    • episodes 3–13 ← green_slow_20260929_150720 episodes [0, 1, 3, 4, 5, 6, 9, 10, 11, 13, 14]
    • episodes 14–17 ← green_fast_20260929_151319 episodes [1, 4, 7, 8]
    • episodes 18–24 ← blue_fast_20260929_152142 episodes [0, 1, 2, 3, 6, 7, 10]

  • so101-spinning-table-failures

    • episodes 0–0 ← blue_slow_20260929_145703 episodes [3]
    • episodes 1–2 ← green_fast_20260929_151319 episodes [0, 3]

  • Homepage: [More Information Needed]

  • Paper: [More Information Needed]

  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
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            "shape": [
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                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
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        "observation.images.head": {
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        "observation.images.head_depth": {
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                "video.extra_options": {
                    "x265-params": "lossless=1"
                },
                "video.depth_min": 0.01,
                "video.depth_max": 10.0,
                "video.shift": 3.5,
                "video.use_log": true
            }
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        "timestamp": {
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        "task_index": {
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    },
    "total_episodes": 69,
    "total_frames": 26267,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:69"
    }
}

Citation

BibTeX:

[More Information Needed]
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