task_categories:
- robotics
tags:
- lerobot
- so101
- so-arm100
- imitation-learning
- pick-and-place
SO101 pick_place_v2 — two-camera (front + wrist) demonstrations
Teleoperated pick-and-place demonstrations on an SO101 follower arm
(leader→follower teleop), LeRobot v3.0 format. Successor to
Dillonjohnson/pick_place:
the v1 policy trained on a single front camera executed the full task sequence but
missed the grasp by ±1–2 cm (1/8 grasps) — an error the front camera cannot see.
v2 re-records the task with an added wrist camera for grasp-phase observability.
- Task string: "Pick up the cube and place it in the bin" — NOTE: the object is actually a ~7 cm blue puck (outside-wrap grasp); the string is inherited from v1.
- Episodes: 45 · Frames: 31,063 · FPS: 30
- Robot: so_follower (6-DOF: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
- Cameras:
observation.images.front(fixed scene view) +observation.images.wrist(jaws + table) — both 1280×720, stored as video (AV1) - Action / state: 6-D joint positions (degrees)
Composition (recorded 2026-07-21, one session, fixed scene)
| episodes | content |
|---|---|
| 0–35 | clean picks, puck start position deliberately varied (~18×18 cm region) |
| 36–40 | rim-recovery: grasp initially catches the rim, operator recovers |
| 41–42 | mid-descent displacement: puck moved during the reach, operator re-targets |
| 43–44 | low-light variants (scene brightness 113 vs the session's 170) |
Start pose: episode-mean [-40.1, -100.6, 96.5, 72.4, -4.8, 1.4] deg
(pan/lift/elbow/wrist_flex/roll/grip), pan σ 7.6° across episodes.
Demos hold the puck at gripper position 26–36 while carrying; a close ending
below ~20 means the jaws missed the puck body (useful as a rollout verdict signal).
Known warts (verified harmless for training)
- ep28: the video window carries ~2.5 s of orphan frames from a redo at its tail — the recorder's discard drops parquet rows but not already-encoded frames. Kept takes sit at the window head; training decode is unaffected.
- eps 0–2: videos re-encoded near-all-intra AV1 (~5× bulkier, decode fine) as a
side effect of deleting a junk episode via
lerobot-edit-dataset.
Train (ACT, the v2 config actually used)
lerobot-train \
--policy.type=act --policy.device=cuda --policy.push_to_hub=false \
--dataset.repo_id=Dillonjohnson/pick_place_v2 --dataset.video_backend=pyav \
--dataset.image_transforms.enable=true \
--batch_size=8 --steps=150000 --save_freq=10000 --num_workers=8 \
--output_dir=outputs/train/act_pick_place_v2 --job_name=act_pick_place_v2 \
--wandb.enable=false
Trained models live in
Dillonjohnson/act_pick_place
(ckpt-v2-last). Two 720p streams cost ~2.7× v1's per-step time; CPU inference is
~1.05 s/chunk vs 0.34 s single-cam.