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ETHrobotlearning/tv-task2-clean-aug1_illumination

tv-task2-clean-aug1_illumination LeRobot v3 dataset for banana pick-and-place with a SO-101 robot arm.Built for Vision-Language-Action (VLA / SmolVLA) training. Dataset summary Property Value Episodes 1 184 Frames 139 368 FPS 10 Task prompts 33 Robot SO-101 (so_follower) Camera Front (480 × 640, AV1) Action space 6-DoF joint positions Format LeRobot v3.0 Construction Base: ETHrobotlearning/tv-task2-clean-aug1 (592… See the full description on the dataset page: https://huggingface.co/datasets/ETHrobotlearning/tv-task2-clean-aug1_illumination.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face
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Dataset Card

tv-task2-clean-aug1_illumination

LeRobot v3 dataset for banana pick-and-place with a SO-101 robot arm. Built for Vision-Language-Action (VLA / SmolVLA) training.

Dataset summary

PropertyValue
Episodes1 184
Frames139 368
FPS10
Task prompts33
RobotSO-101 (so_follower)
CameraFront (480 × 640, AV1)
Action space6-DoF joint positions
FormatLeRobot v3.0

Construction

Base: ETHrobotlearning/tv-task2-clean-aug1 (592 episodes, trimmed of idle boundary frames). Each episode is paired with one illumination-augmented copy (brightness ~ Uniform(0.7, 1.2), seed 42), doubling the dataset to 1 184 episodes.

Task prompts (33)

The dataset covers four referring styles:

Color (direct)

  • —Put the banana in the red / green / blue bowl.
  • —Put the banana in the red / green / blue colored bowl.
  • —Place the banana in the red / green / blue bowl.
  • —Move the banana to the red / green / blue colored bowl.

Color (negation)

  • —Put the banana into the bowl that is not red and not blue.
  • —Put the banana into the bowl that is not red and not green.
  • —Put the banana into the bowl that is not green and not blue.

Ordinal (robot perspective)

  • —Put the banana into the 1st / 2nd / 3rd bowl from the left from the robot perspective.
  • —Put the banana into the left / center / right bowl from the robot perspective.
  • —Put the banana into the leftmost / rightmost / middle bowl from the robot perspective.

Relative position (robot perspective)

  • —Put the banana into the bowl on the left / right of the red bowl from the robot perspective.
  • —Put the banana into the bowl on the left / right of the green bowl from the robot perspective.
  • —Put the banana into the bowl on the left / right of the blue bowl from the robot perspective.
  • —Put the banana into the bowl between the blue bowl and the green bowl.
  • —Put the banana into the bowl between the blue bowl and the red bowl.
  • —Put the banana into the bowl between the red bowl and the green bowl.

Features

FeatureTypeShape
actionfloat32(6,) — joint positions
observation.statefloat32(6,) — joint positions
observation.images.frontvideo (AV1)480 × 640 × 3
timestampfloat32(1,)
frame_indexint64(1,)
episode_indexint64(1,)
indexint64(1,)
task_indexint64(1,)

Visualization

Browse episodes interactively using the LeRobot visualizer:

<iframe src="https://huggingface.co/spaces/lerobot/visualizedataset?dataset=ETHrobotlearning%2Ftv-task2-clean-aug1illumination&episode=0" frameborder="0" width="100%" height="920px"

</iframe>

For local exploration with tracelr:

bash
huggingface-cli download --repo-type dataset ETHrobotlearning/tv-task2-clean-aug1_illumination --local-dir ./dataset
cargo run --profile opt-dev -- ./dataset

SmolVLA compatibility

lerobot-doctor gate ETHrobotlearning/tv-task2-clean-aug1_illumination --policy smolvla