so101-pick-cube_20261024_090900

Pick the bracket and hold it up to the inspection camera.

Part of a quality-control pipeline built at the Robotekin LeRobot Hackathon 2026: an SO-101 arm picks a metal part, a vision model checks whether it has a pin, and a sorting policy drops it in the green box (with pin) or the white box (without pin). This dataset belongs to Stage 1 — Picking.

Naming note: good / bad describe the part, not the quality of the demonstration. GOOD = part with a pin → green box. BAD = part without a pin (defective) → white box. up-down-bad_* datasets are successful demonstrations of carrying a defective part to the white box. No failed or negative demonstrations were intentionally recorded. Other informal names: so101-pick-cube_* contains the metal bracket, not a cube, and up-down_* is the GOOD-box sorting task (except the 23 October sessions, see below).

What this dataset contains

The arm picks one metal bracket from the crate, grasping it according to its orientation, lifts it and holds it up in front of the inspection camera. Each episode ends with the part held in front of the camera, ready for the pin classifier.

Stored task	"Pick a bracket from the crate and hold it up to the camera"
Episodes	4 (1,301 frames, 43.4 s in total)
Recorded	2026-10-24 09:09
Frame rate	30 fps
Cameras	observation.images.front, observation.images.wrist (640x480 RGB)
State / action	observation.state / action, 6 values each
Object locations	1 (numbering of meta/recording_notes.json)

How it was used

• Training data of MikelRubi/act-pick (v1–v3). Each version filters episodes differently (fps, number of parts in the crate, duration, idle time); the model card lists the filters.
• The end frames of its pick episodes were labelled by eye as pin / nopin and used to train MikelRubi/pin-classifier.
• Contains pin_snapshots/: 12 labelled front + wrist photo pairs (9 pin, 3 nopin) taken on purpose for MikelRubi/pin-classifier, listed in pin_snapshots/index.json.

Pipeline

tray  ──► act-pick ──► part held up to the camera ──► pin-classifier ──┬─ pin    (GOOD) ──► act-up-down-good ──► green box
                                                                      └─ no pin (BAD)  ──► act-up-down-bad  ──► white box

Related models: MikelRubi/act-pick → MikelRubi/pin-classifier → MikelRubi/act-up-down-good | MikelRubi/act-up-down-bad. Project page: MikelRubi/robotekin-so101-pin-sorting. On the robot the stages are chained by the team's demo app (30_full_demo_app.py); during recording the operator chose the box after looking at the part. The box for each result is set by the operator's order; the usual order is shown above.

This session is also part of the combined dataset MikelRubi/robotekin-so101-pick, which joins all the sessions of this task.

Recording setup

• Robot: SO-101 follower arm (LeRobot so_follower, 6 joints including the gripper), teleoperated with an SO-101 leader arm (leader/follower). The policies never see the leader; action is the leader position sent to the follower.
• Cameras: two USB RGB cameras, front (fixed overhead camera looking down at the tray) and wrist (mounted on the gripper).
• Joints (state and action, same order): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper. Arm joints in degrees, gripper 0–100 (LeRobot SO-101 calibration).
• Format: LeRobot dataset v3.0, H.264 video. Recorded on 23–24 October 2026 at the Robotekin LeRobot Hackathon (Robotory, Vitoria-Gasteiz).

Known limitations

• A single short recording session in one room and lighting setup. No success labels are stored: every saved episode is treated as a successful demonstration.
• Camera models and their exact mounting positions are not documented in the dataset.

Acknowledgements

Recorded by Iker Azurmendi, Mikel Zulueta, Ander Autillo and Diego Suarez during the Robotekin LeRobot Hackathon 2026 (23–25 October 2026, Vitoria-Gasteiz). Thanks to Bravo Robots and to Robotekin for the hackathon, to Hugging Face for LeRobot, and to everyone who took part in it.