| --- |
| 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`](https://huggingface.co/datasets/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) |
| |
| ```bash |
| 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`](https://huggingface.co/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. |
| |
