| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - lerobot | |
| - so-101 | |
| - molmoact2 | |
| - pick-and-place | |
| # SO-101 sim cube pick-and-place, 500 demos (binary gripper) | |
| 500 scripted-expert demonstrations of an SO-101 arm picking up a red cube and placing it on a | |
| blue target, in a MuJoCo simulator (so101-nexus). This is the training data for the | |
| [v6 LoRA champion](https://huggingface.co/ataghof/molmoact2-so101nexus-lora-champion). | |
| Full story with videos: [project page](https://ataghof.github.io/molmoact2-so101-sim/). | |
| ## What's in it | |
| - 500 episodes, randomized cube placement, recorded as a LeRobot v3 dataset with videos | |
| - Two camera views (overhead + wrist), plus 6-dim joint state and action | |
| - Injected noise and recovery in the executed trajectories (DART-style); clean actions recorded | |
| - Episodes end with the cube placed on the target | |
| - Gripper relabeled to two values, open or closed, the single biggest win in training | |
| ## Load it | |
| ```python | |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset | |
| ds = LeRobotDataset("ataghof/so101nexus-cube500-binary") | |
| ``` | |
| ## Links | |
| - Model trained on it: https://huggingface.co/ataghof/molmoact2-so101nexus-lora-champion | |
| - Code + collector: https://github.com/ataghof/molmoact2-so101-sim | |
| Built with so101-nexus (John Sutor) and LeRobot (Hugging Face). | |