tysyuvraj/so101-cotton-pickplace

Cotton Ball Pick-and-Place with Correction (SO-101)

A teleoperated manipulation dataset collected on the SO-101 follower arm (single 6-DOF arm, parallel-jaw gripper, single front-facing camera) for a pick-and-place task: pick up a cotton ball and place it on a plate. The dataset combines three task variants:

• Pink ball — Pick up the pink cotton ball and place it on the plate (100 episodes, 20,118 frames)
• Yellow ball — Pick up the yellow cotton ball and place it on the plate (100 episodes, 20,074 frames)
• Pick-and-correct — Pick up the cotton ball and place it on the plate. Stop, not this one. (100 episodes, 18,661 frames) — demonstrations of a mid-task verbal correction/stop scenario, rather than an uninterrupted pick-and-place

This dataset was used to fine-tune GR00T N1.6 for the pink/yellow task (tysyuvraj/groot-n16-so101-pickplace). It is also the manipulation data behind the "body" side of a research system pairing this policy with a Qwen3-Omni-based anticipatory human-robot-interaction monitor, which supervises the running policy and can stop, redirect, or confirm completion of the task in real time.

Dataset Details

• Robot: SO-101 follower arm — single 6-DOF arm (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper), parallel-jaw gripper, single front-facing camera
• Collection method: human teleoperation
• Format: LeRobot v3.0 dataset format (Parquet + MP4 video), single train split
• Size: 300 episodes, 58,853 frames total, 30 fps
• Video: observation.images.front, 640x360

Intended Use

Training or fine-tuning manipulation policies for small-object pick-and-place, and specifically as a benchmark scene for HRI systems that need to detect and act on mid-task verbal corrections rather than only clean, uninterrupted demonstrations — the pick-and-correct split exists for exactly this purpose.

Known Limitations

• Only two object colors and one receptacle are covered — a narrow-object-set dataset, not a general small-object-grasping dataset.
• The pick-and-correct split demonstrates one specific correction pattern (verbal "stop, not this one" mid-task); it is not a general-purpose interruption-handling dataset covering arbitrary redirect phrasing.

Loading

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("tysyuvraj/so101-cotton-pickplace")

Citation

@misc{singh2026so101cotton,
  author = {Singh, Yuvraj},
  title  = {Cotton Ball Pick-and-Place with Correction (SO-101)},
  year   = {2026},
  url    = {https://huggingface.co/datasets/tysyuvraj/so101-cotton-pickplace}
}