bimanual_stack_bowls_yellow_brown_white

Bimanual SO-101 teleoperation dataset for a bowl stacking task, recorded with 4 cameras in LeRobot format (v3.0).

Task

Stack the yellow bowl, then the brown bowl, and finally the white bowl.

Order: yellow → brown → white (stacking sequence).

Dataset summary

Field	Value
Robot	bi_so101_follower (dual SO-101 arms)
Collection	Leader–follower teleoperation
Episodes	200
Frames	98,616
FPS	30
Episode length	348–768 frames (11.6–25.6 s), mean 493 frames (16.4 s)
Tasks	1
Split	train: episodes 0:200
Format	LeRobot codebase v3.0
Approx. size	~1.1 GB

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):

Left arm

• left_arm_shoulder_pan.pos
• left_arm_shoulder_lift.pos
• left_arm_elbow_flex.pos
• left_arm_wrist_flex.pos
• left_arm_wrist_roll.pos
• left_arm_gripper.pos

Right arm

• right_arm_shoulder_pan.pos
• right_arm_shoulder_lift.pos
• right_arm_elbow_flex.pos
• right_arm_wrist_flex.pos
• right_arm_wrist_roll.pos
• right_arm_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_stack_bowls_yellow_brown_white",  # change if your Hub id differs
    root="/home/rxn/datasets/bimanual_stack_bowls_yellow_brown_white",
)

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

Visualize locally:

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

Collection notes

• Recorded with LeRobot bimanual SO-101 leader–follower teleop (get-data-bimanual-stack-bowls.sh).
• Local root: /home/rxn/datasets/bimanual_stack_bowls_yellow_brown_white
• Same 4-camera setup as bimanual_handover_4cam_20260717_150424 (top_left 800×480 + three 640×480 cams).
• Resume recording: use uppercase RESUME=1 (not Resume=1).
• Training tip: rename map cameras if the policy expects camera1…camera4; use tolerance_s=0.05 when loading multi-cam video.

Citation

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