pick-red-cube

A teleoperated SO-101 (baby_gewu) manipulation dataset: "Grab the red cube and put it in the box." Recorded with a leader/follower SO-101 pair; the follower's joint states and three rig cameras (top / wrist / side → camera1 / camera2 / camera3) are captured per episode. Intended for finetuning SmolVLA-class policies.

• Robot: so_follower (SO-101), 6-DoF (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
• Episodes: 122
• Frames: 50,355
• FPS: 30
• Cameras: 3 × 640×480 (top / wrist / side)
• Format: LeRobot v3.0

Episode breakdown

All episodes share the same task string; the failure-recovery split below is tracked by episode index, not encoded in the per-episode task field. Episodes 92–121 were added to teach corrective behavior (the clean-only set never shows the policy how to recover from a bad approach).

Episodes	Kind	Count
0–91	Pristine — clean approach, clear the cube, grasp center-of-faces	92
92–101	Corner grasp — grabbing a corner, cube slides, recover + regrasp	10
102–111	Pushing into the table — fingertip contact, back off, re-approach	10
112–121	Air grasp — closing beside/above the cube, re-center + regrasp	10