| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Sampath-d/Object_picking"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| # XLe SO-101 Object Picking |
|
|
| Real-world object-picking dataset for **fine-tuning [allenai/MolmoAct2-SO100_101](https://huggingface.co/allenai/MolmoAct2-SO100_101)** on an **SO-101 follower arm mounted on XLeRobot**. |
|
|
| Stored in **LeRobot v3.0** format. |
|
|
| * **Episodes:** 60 |
| * **Frames:** 47,175 |
| * **FPS:** 30 |
| * **Resolution:** 640 × 480 RGB |
| * **Cameras:** Top + Wrist |
| * **State / Action:** 6 SO-101 joint positions |
| * **Tasks:** 4 |
|
|
| The dataset contains synchronized camera observations, robot states, and actions collected from real SO-101 demonstrations on XLeRobot. |
|
|
| ### Base Checkpoint |
|
|
| [allenai/MolmoAct2-SO100_101](https://huggingface.co/allenai/MolmoAct2-SO100_101) |
|
|
| ### Format |
|
|
| LeRobot v3.0 with Parquet data, episode/task metadata, statistics, and encoded camera videos. |
|
|
