SROI
Strawberry Robotic Operation Interface
1 College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou;
2 ZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University;
Physical prototypes of SROI system
Project Overview
Strawberry cultivation is labor-intensive, particularly for tasks requiring dexterous manipulation, such as harvesting occluded strawberries. Imitation learning has emerged as a promising approach to enable robotic arms to perform such functions with human-like dexterity. However, training precise manipulation policies requires large-scale, high-quality demonstration data, which is often challenging to obtain in unstructured field environments. To address this challenge, we introduce the Strawberry Robotic Operation Interface (SROI)—an open-source device designed for collecting dexterous manipulation data in robotic strawberry cultivation. The SROI consists of a handheld unit with a modular end effector and a stereo camera system, facilitating efficient data collection in real-world agricultural settings. Additionally, we develop a data post-processing pipeline to extract spatial trajectories and gripper states from the collected demonstrations. To further support research in dexterous robotic manipulation, we released an open-source dataset of strawberry-picking demonstrations. By enabling systematic data collection, the SROI contributes to advancing the automation of complex strawberry cultivation tasks and reducing reliance on manual labor.
Newly Designed Components
A cut-and-hold end effector tailored for strawberry operations has been developed for the SROI. This end effector is well-suited for tasks such as strawberry picking, leaf removal, and stolon removal. Moreover, its modular interface allows for the integration of various end effector types.
Trajectory estimation accuracy evaluation
To ensure visual consistency between the handheld and robot-mounted devices, we established a visual alignment guideline: the bottom of the GoPro's fisheye lens image aligns with the bottom of the gripper's fingertips.
WorkFlow
Select the target strawberry for which you wish to collect picking data, typically strawberries that are occluded by stems, leaves, or other strawberries and present a challenge to be directly picked.
Datasets Demo
Demo1: Grip a strawberry. For More Demo Videos
Contact
Fei Zhenghao, zfei@zju.edu.cn