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5hadytru
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so101_bench_sim

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Robotics
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LeRobot
so101
simulation
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Episodes Preview SO-101 Visualizer
3.63k episodes · 30 fps · 2 cameras · 640×480 av1

SO-101 Bench: Sim Training Dataset

The full simulated training dataset for SO-101 Bench, in LeRobot v3.0 format.

  • 3,629 episodes, 1,996,120 frames at 30 fps, 1,495 unique task instructions
  • Cameras: observation.images.overhead and observation.images.wrist (640×480)
  • observation.state / action: 6-DoF SO-101 follower joint positions

Overhead + wrist frame pairs from four episodes with different camera poses, robot colors, and backgrounds

See also 5hadytru/so101_bench_sim_WM, which adds the episode's initial frames to every timestep.
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Number of rows:
1,996,120
Total file size:
44.6 GB

Models trained or fine-tuned on 5hadytru/so101_bench_sim