merged_all7

Merged LeRobot dataset (SO-101 cube pick-and-place) — 673 episodes / 210,065 frames. Concatenation of the source datasets below.

Source datasets

Source	Episodes
geonmin-kim/SO101-lv2-single-cube-to-box-random-layout-v1	200
geonmin-kim/lv2_neartop_emptyupbox	50
geonmin-kim/lv1_neartop_upbox	50
geonmin-kim/lv3_neartop_multiple_cubes_no_human_reset	50
geonmin-kim/SO101-lv1-fix-location-cube-to-box-v1	250
geonmin-kim/SO101-lv2-single-cube-to-box-emptybox-v3	50
xpuenabler/SO101-lv3-cube-to-box-wrist-upright	23
Total	673

Tasks

• "Pick up the {color} cube ..." — 5 colors (random-layout-v1, lv1-fix-location, xpuenabler-wrist)
• "Pick up any {color} cube ..." — 5 colors (lv1/lv2/lv3 neartop)
• "Pick up {color} cube ..." (no article) — 5 colors (emptybox-v3)

Note: the merged task table keeps each source's original instruction phrasing verbatim, so semantically-equivalent tasks may appear under multiple strings.

Format

• Robot: SO-101 (so_follower), 6-DOF joint-position control (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper).
• Cameras: observation.images.top, observation.images.wrist (480×640×3, mp4).
• Rate: 30 fps. Format: LeRobot dataset v3.0.
• Built with lerobot.datasets.dataset_tools.merge_datasets (episodes concatenated; task table unioned).

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("geonmin-kim/merged_all7")