so101_pick_diverse_objects_hil_round1

Dataset Description

This dataset contains Human-in-the-Loop (HIL) correction episodes collected on the SO-101 robot arm pair using the HG-DAgger style data collection script hil_record_act.py.

The collection procedure is as follows:

1. An ACT policy previously trained on teleoperation demonstrations is deployed to autonomously drive the follower arm.
2. Whenever the policy makes an error or is about to fail, a human operator presses SPACE to take over and correct the trajectory with the leader arm.
3. All frames — both autonomous and intervention frames — are recorded, with intervention frames tagged as is_intervention = 1.

This iterative correction loop follows the HG-DAgger paradigm: the robot attempts the task independently, and human intervention data is collected only when and where the policy struggles, making data collection efficient and targeted.

Task

Pick diverse objects — the robot arm picks up a variety of objects placed on a tabletop. Multiple task prompts (e.g., "Pick the red cube.", "Pick a pen.") are supported; the task string is assigned at the start of each episode.

Dataset Statistics

Property	Value
Number of episodes	51
Total size	~199 MB
Image resolution	640 × 480 px
Format	imagefolder (Parquet-converted)

Related Resources

Resource	Link
Policy trained on this dataset	TakuyaHiraoka/act_so101_pick_diverse_objects
Data collection script & full pipeline	TakuyaHiraoka/LeRobot-Playground

Hardware

• Robot: SO-101 leader–follower arm pair
• Camera: USB or IP/MJPEG stream (640 px wide)
• Framework: LeRobot == 0.4.4

Data Collection Procedure

The dataset was collected using hil_record_act.py from LeRobot-Playground. Refer to the repository README for the full command-line interface and pipeline diagram.

Key keyboard controls during recording:

Key	Action
SPACE	Toggle human intervention mode
s	Save current episode as success
r	Discard and re-record
q	End the session

Example launch command:

python hil_record_act.py \
    --follower_port /dev/ttyACM1 --follower_id <follower-id> \
    --leader_port   /dev/ttyACM0 --leader_id   <leader-id> \
    --camera_url    "http://<camera-host>:8080" \
    --policy_path   <path-to-pretrained-act> \
    --repo_id       TakuyaHiraoka/so101_pick_diverse_objects_hil_round1 \
    --tasks         "Pick the red cube." \
    --num_episodes 20 --episode_time_s 10 --reset_time_s 5 --fps 30

License

MIT