metadata
license: apache-2.0
task_categories:
- robotics
tags:
- lerobot
- so101
- simstudio
- mujoco
- pick-and-place
- teleoperation
size_categories:
- 10K<n<100K
SO-101 Lab01 Pick-and-Place Dataset
Expert demonstrations for MuJoCo sim2sim pick-and-place, recorded with SO-101 SimStudio (real leader arm → MuJoCo follower, LeRobot v3.0).
| Episodes | 50 @ 20 Hz |
| Task | Pick up the cube and place it in the box. |
| Robot | so101_mujoco (6-D joint position actions) |
| Cameras | camera_front, camera_top, camera_wrist (640×480) |
Documentation
| Resource | Link |
|---|---|
| SimStudio repo | rocPAI-Forge/so101-simstudio |
| Lab 01 (record → validate → train → eval) | labs/lab01_pnp/lab01_pnp.md |
For recording setup, validation, replay, and training commands, see Lab 01 in the repo above.
Fine-tuned policy
Policies trained on this dataset:
- ACT: alexhegit/so101-simstudio-lab01-pnp-act
- SmolVLA (MI300X bs64 @ 50K): alexhegit/so101-simstudio-lab01-pnp-smolvla
Quick load
from lerobot.datasets import LeRobotDataset
dataset = LeRobotDataset("alexhegit/so101-simstudio-lab01-pnp")
sample = dataset[0]