SO-101 sim cube pick-and-place, 500 demos (binary gripper)

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README.md

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+---
+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).

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+}

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