Datasets:
Vial sort: 99 contrastive demonstrations with depth, 3 November 2026 (SO-101)
Teleoperated demonstrations of a low-cost SO-101 arm moving a small plastic vial from one numbered slot to another, or into a bin, recorded with LeRobot. Each episode has one prompt naming the source and the destination by position, for example "Move the vial from position 3 of the right rack to slot 6 of the left rack." Left and right are read from the follower arm (the left rack is the top rack in the overhead camera); slot 1 is nearest the arm. Source slots are 1, 3, 4 and 6; destinations are 1, 3, 6 or the bin. Slots 2 and 5 are never a source and 2, 4 and 5 never a destination, on purpose, so models can be tested on them.
Cameras, 640×480 at 30 fps: top_down (overhead), left_top (across the table), left_bottom (RealSense colour, near
table level), right (from the side), wrist (on the gripper). People can be visible in the side views.
- Project site: https://sariabdan.github.io/vial-sort/ (data, results and notes)
- Related sets:
sari-abdan/vial-sort-slots-100(the first 100),sari-abdan/vial-sort-slots-220(the training set of the November models),sari-abdan/vial-sort-contrast-51,sari-abdan/vial-sort-contrast-99-depth - License: apache-2.0
What this set is
99 episodes (runs 18–50 of the contrastive recording sheet), recorded on 3 November 2026: the five colour cameras
plus rs_depth, the depth stream of the Intel RealSense D435i (the same unit as left_bottom), stored losslessly
in millimetres. In the first 100 demonstrations every run of five had one destination and was recorded in one sitting, so the
camera pictures gave the destination away and trained models read it there instead of from the prompt. The newer
demonstrations record one layout three times in a row with three different destinations (the vial is put back
between them), so only the prompt tells them apart. One episode (sheet 141) was recorded as R4 → R3 instead of the sheet's move; its prompt says what
was actually done. These episodes, without depth, are part of vial-sort-slots-220.
Dataset Structure
{
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"fps": 30,
"features": {
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"names": [
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"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
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"names": [
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},
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},
"observation.images.rs_depth": {
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1
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"info": {
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"video.codec": "hevc",
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"video.extra_options": {
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},
"video.depth_min": 0.01,
"video.depth_max": 10.0,
"video.shift": 3.5,
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}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"total_episodes": 99,
"total_frames": 60993,
"total_tasks": 43,
"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": {
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}
}
Citation
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