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bi-so101-insert-screw-562ep
Bimanual teleoperation dataset for the task "Insert the copper screw into the black sleeve", collected with SO-101 dual arms and LeRobot.
This is a mixed dataset combining data from two physical robot setups (devices 127 and 249) across four collectors over seven days.
Dataset Summary
| Field | Value |
|---|---|
| Episodes | 562 |
| Total Frames | 2,070,776 |
| FPS | 30 |
| Duration | ~19.2 hours |
| Robot Type | bi_so_follower (SO-101 x2) |
| Codebase Version | LeRobot v3.0 |
| Size | ~21 GB |
Features
| Feature | Type | Shape | Description |
|---|---|---|---|
action |
float32 | [12] | Target joint positions from leader arms (6 left + 6 right) |
observation.state |
float32 | [12] | Current joint positions of follower arms (6 left + 6 right) |
observation.images.left_wrist |
video | [480, 640, 3] | Left arm wrist camera |
observation.images.right_wrist |
video | [480, 640, 3] | Right arm wrist camera |
observation.images.right_front |
video | [480, 640, 3] | Overhead/front global view camera |
Joint order (per arm): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
Source Datasets
This dataset is a merge of 5 source datasets:
| Source | Episodes | Frames | Device | Collector | Date |
|---|---|---|---|---|---|
| bi-so101-insert-screw-271ep (wxy) | 40 | - | 127 | wxy | 2026-04-01 |
| bi-so101-insert-screw-271ep (zzz) | 130 | - | 127 | zzz | 2026-04-02 |
| bi-so101-insert-screw-271ep (szk) | 101 | - | 127 | szk | 2026-04-03 |
| 20260403-lzl | 82 | 334,249 | 249 | lzl | 2026-04-03 |
| 20260405-szk | 120 | 377,307 | 127 | szk | 2026-04-05 |
| 20260406-lzl | 38 | 135,608 | 127 | lzl | 2026-04-06 |
| 20260407-szk | 51 | 166,208 | 249 | szk | 2026-04-07 |
| Total | 562 | 2,070,776 | Apr 1-7 |
By device:
- Device 127: 429 episodes (271 + 120 + 38)
- Device 249: 133 episodes (82 + 51)
Hardware
Two identical SO-101 bimanual setups, each with 4 arms (2 leaders + 2 followers) and 3 USB cameras.
Device 127 (zhaobo-MS-7D90)
- Host:
192.168.31.127 - CPU: 12th Gen Intel Core i5-12600KF
- GPU: NVIDIA GeForce RTX 4060
- OS: Ubuntu 20.04 (kernel 5.15.0-139)
- Arms (USB-TTL serial, CH340):
- Left follower:
5B14030892 - Right follower:
5B14031512 - Left leader:
5B14111435 - Right leader:
5B14032630
- Left follower:
- Cameras: 3x USB, 640x480 @ 30fps, h264 codec
Device 249 (bozhao40602-MS-7D90)
- Host:
192.168.31.249 - CPU: (same platform as 127)
- GPU: NVIDIA GeForce RTX 4060
- Arms (USB-TTL serial, CH340):
- Left follower:
5B14114661 - Right follower:
5AE6052943 - Left leader:
5AE6081609 - Right leader:
5B14031949
- Left follower:
- Cameras: 3x USB, 640x480 @ 30fps, h264 codec
Task Setup
Two SO-101 arms face each other on a white mat. Copper screws and black sleeves are placed between the arms. The operator uses leader arms to teleoperate the follower arms to pick up a copper screw and insert it into a black sleeve.
Data Processing Notes
Left/Right Action Swap Fix (April 1-2 data, device 127 only)
The April 1 and April 2 data was recorded with a bug in _group_arms() (fix commit 75f3ce7) that caused action and observation.state left/right dimensions to be swapped. Dimensions [0:6] and [6:12] were swapped in both fields for all affected episodes. April 3+ data was recorded after the bug fix.
Camera Rename
Original recording on device 127 used camera aliases with a redundant left_ group prefix:
left_left_wrist→left_wristleft_right_wrist→right_wristleft_top→right_front
Merge Process
Source datasets were merged using LeRobot's merge_datasets(). Episode indices were renumbered sequentially. Stats were re-aggregated from per-episode parquet metadata to ensure q01/q99 quantile stats are present (the merge tool has a known bug that can drop quantile stats).
Related Datasets
| Dataset | Episodes | Description |
|---|---|---|
| bi-so101-insert-screw-271ep | 271 | Device 127 only (baseline) |
| same-robot-309ep | 309 | 271ep + 20260406-lzl (device 127 only) |
| cross-body-322ep | 322 | 271ep + 20260407-szk (device 127 + 249) |
Trained Models
| Model | Precision | Steps | Dataset |
|---|---|---|---|
| pi05_screw_271ep_sft | bf16 | 30K | 271ep |
| pi05_screw_271ep_sft_fp32 | fp32 | 30K | 271ep |
| pi05_cross_body_322ep_sft_fp32 | fp32 | 30K | cross-body-322ep |
| pi05_same_robot_309ep_sft_fp32 | fp32 | 30K | same-robot-309ep |
| pi05_full_mix_562ep_sft_fp32 | fp32 | 60K | this dataset |
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Elvinky/bi-so101-insert-screw-562ep")
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