upn
Datasets
All datasets matching “upn”powerline_towersbimanual-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… See the full description on the dataset page: https://huggingface.co/datasets/upna/bimanual-pass-double-sided-tape-roll.realrobot-experiments
Real Robot Experiments
This repository contains real robot evaluation videos for different VLA models.
Robot
SO101
Models
ACT
SmolVLA
GR00T
Pi0.5
Tasks
Snack -> Bowl
Garlic -> Container
Blue Block -> Transparent Square
Experiments
Success cases
Background shift
Object pose generalization
Position generalization
Language mismatch
garlic_dataThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/upna/garlic_data.bimanual_stack_bowls
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… See the full description on the dataset page: https://huggingface.co/datasets/upna/bimanual_stack_bowls.stack_white_blue_black
stack_3blocks_white_blue_black
Single-arm SO-101 teleoperation dataset for a 3-block stacking task (bottom → top: white, blue, black), recorded with 2 cameras in LeRobot format (v3.0).
Task
Stack the blocks from bottom to top: white, blue, black.
Pipeline: pick white → place as base → pick blue → stack on white → pick black → stack on blue → hold stable.
Scene: three blocks start flat and spread in an ~A4 workspace (randomized each episode, gap ≥5 cm); no tray /… See the full description on the dataset page: https://huggingface.co/datasets/upna/stack_white_blue_black.