Datasets:
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observation.state list | action list | timestamp float32 0 29.1 | frame_index int64 0 874 | episode_index int64 0 49 | index int64 0 27.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
portal-rebot-pick-microcontroller
A LeRobot dataset of a 6-DOF arm picking a microcontroller and placing it in a box. Episodes were collected by teleoperating a real robot over the network with LiveKit Portal, using a human-in-the-loop recording loop that aligns camera frames and joint state into clean, synchronized trajectories.
Task: Pick the microcontroller and place it in the box
At a glance
| Robot | Seeed reBot Arm B601-DM (seeed_b601_dm_follower) |
| Episodes | 50 |
| Frames | 27,502 |
| FPS | 30 |
| Cameras | arm_camera, overhead_camera (640×480 RGB, AV1) |
| LeRobot codebase version | v3.0 |
| License | Apache-2.0 |
Features
observation.state— 7 absolute joint positions (degrees):shoulder_pan,shoulder_lift,elbow_flex,wrist_flex,wrist_yaw,wrist_roll,gripper.action— same 7 joint positions, the commanded targets (from human teleop or a policy during handoff).observation.images.arm_camera— arm-mounted RGB camera, 640×480, 30 fps.observation.images.overhead_camera— overhead RGB camera, 640×480, 30 fps.
How it was collected
Data was recorded with LiveKit Portal's human-in-the-loop pipeline: a robot publishes
camera frames and joint state, an operator (human teleoperator and/or policy) drives it,
and every executed action is recorded tagged with its sender. The synchronizer stitches
the separately-arriving camera and state streams back into one coherent snapshot per tick
before writing each frame to the LeRobotDataset episode.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("binhpham/portal-rebot-pick-microcontroller")
print(dataset)
print(dataset[0])
Versions
- v3 — 50 episodes. A stray, partially-recorded frame fragment (from an accidental record toggle) was dropped during repacking; all 50 intended episodes are intact.
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