README.md

metadata

tags:
  - lerobot
  - so101
  - molmoact2

move_blue_ball_training_v21

This is a convention-converted copy of andlyu/move_blue_ball_training.

Only the 6D SO101 joint columns were changed:

• observation.state
• action

The source dataset was recorded with LeRobot SO101 v3 calibrated robot degrees. This copy converts those joint vectors into the older SO100/SO101 v2.1 policy degree convention expected by allenai/MolmoAct2-SO100_101.

Conversion:

old = (new - [0, 90, -90, 0, 0, 0]) / [1, -1, 1, 1, 1, 1]

Equivalent per-joint form:

shoulder_lift_old = 90 - shoulder_lift_new
elbow_flex_old    = elbow_flex_new + 90

All videos, task metadata, timestamps, frame indices, and episode boundaries are copied from the source dataset. Global and per-episode LeRobot stats were recomputed for the converted joint columns.