upna/bimanual-pass-double-sided-tape-roll

bimanual_handover_4cam_20260717_150424

Bimanual SO-101 teleoperation dataset for a double-sided tape handover task, recorded with 4 cameras in LeRobot format (v3.0).

This is a 4-camera collection (distinct from the older 3-camera upna/bimanual_handover).

Task

Grasp the double-sided tape roll, hand it over to the other arm, and place it in the yellow rectangular plastic tray.

Dataset summary

Field	Value
Robot	bi_so101_follower (dual SO-101 arms)
Collection	Leader–follower teleoperation
Episodes	89
Frames	47,074
FPS	30
Episode length	413–680 frames (13.8–22.7 s), mean 529 frames (17.6 s)
Tasks	1
Split	train: episodes 0:89
Format	LeRobot codebase v3.0
Approx. size	~480–500 MB

Cameras

Key	Resolution	Role
observation.images.top_left	800 × 480	Overhead / left-top view
observation.images.top_right	640 × 480	Overhead / right-top view
observation.images.left	640 × 480	Left wrist camera
observation.images.right	640 × 480	Right wrist camera

All videos: H.264, 30 FPS, RGB, no audio.

Action / state

12-DoF joint positions (left arm 6 + right arm 6):

• *_shoulder_pan.pos
• *_shoulder_lift.pos
• *_elbow_flex.pos
• *_wrist_flex.pos
• *_wrist_roll.pos
• *_gripper.pos

Features:

• action — commanded / teleop joint targets (float32, shape [12])
• observation.state — measured joint positions (float32, shape [12])

Features

• observation.images.top_left / top_right / left / right (video)
• observation.state
• action
• timestamp, frame_index, episode_index, index, task_index

Load with LeRobot

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="upna/bimanual_handover_4cam_20260717_150424",  # change if your Hub id differs
    # root="/home/rxn/datasets/bimanual_handover_4cam_20260717_150424",  # local path
)

print(dataset.meta)
print(len(dataset), "frames,", dataset.num_episodes, "episodes")

Visualize locally:

lerobot-dataset-viz \
  --repo-id upna/bimanual_handover_4cam_20260717_150424 \
  --root /home/rxn/datasets/bimanual_handover_4cam_20260717_150424 \
  --episode-index 0

Collection notes

• Recorded with LeRobot bimanual SO-101 leader–follower teleop (get-data-bimanual.sh).
• Local root: /home/rxn/datasets/bimanual_handover_4cam_20260717_150424
• Timestamp suffix 20260717_150424 identifies this collection run.
• Compared to 3-cam bimanual_handover, this run adds top_left (800×480) alongside top_right / wrist cams.

Citation

If you use this dataset, please cite LeRobot and this repository.