| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - lerobot |
| - so101 |
| - mujoco |
| - sim |
| - pick-cube |
| pretty_name: Pick-Cube SO-101 (MuJoCo sim twin) |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # Pick-Cube SO-101 — MuJoCo sim twin |
|
|
| A **1-to-1 MuJoCo reproduction** of the real teleoperated |
| [**dobri420/pick-cube-so101**](https://huggingface.co/datasets/dobri420/pick-cube-so101) |
| dataset. Every real episode is replayed through a MuJoCo sim of the SO-101 cell |
| and re-rendered from the same three camera views — see the source card for the |
| full breakdown of tranches, grasp distribution, and recording setup. |
|
|
| Generator code: [**dyordan1/so101-mujoco**](https://github.com/dyordan1/so101-mujoco). |
|
|
| <a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=dobri420/pick-cube-so101-sim"> |
| <img src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/></a> |
|
|
| ## How it was made |
|
|
| - **Proprioception is verbatim.** `action` and `observation.state` (6-DoF joint |
| positions) are copied from the real dataset unchanged — only the pixels are |
| synthetic. |
| - **Pixels are MuJoCo.** The three views (`camera1`/`camera2`/`camera3`, 480×640) |
| are re-rendered in sim, with the cube welded at the recorded grasp frame, the |
| tote at the release frame, and each episode's distractors placed in the fan. |
| - **Sim-fidelity filter.** Each episode is first rolled physics-only to check the |
| cube actually lands in the tote; episodes that don't land in sim are dropped, |
| and the survivors renumbered. So this twin has **535 episodes** (vs the source's |
| 540) — the ones the sim faithfully reproduces. |
|
|
| ## Train and test your own policy — no robot needed |
|
|
| Because both the data **and** the environment are in the loop, you can train a |
| policy on this dataset and evaluate it in the same MuJoCo sim it came from — with |
| **no physical arm and no need to reproduce the real scene lighting/geometry**. The |
| generator repo [**dyordan1/so101-mujoco**](https://github.com/dyordan1/so101-mujoco) |
| ships the whole loop: |
|
|
| ```bash |
| git clone https://github.com/dyordan1/so101-mujoco && cd so101-mujoco |
| pip install -r requirements.txt |
| |
| python download.py # this dataset -> datasets/ |
| scripts/train # finetune SmolVLA -> checkpoints/ (needs a GPU) |
| python mujoco_policy.py \ |
| checkpoints/pick-cube-so101-sim-smolvla/checkpoints/last/pretrained_model --grid |
| ``` |
|
|
| `scripts/train` wraps `lerobot-train` with the SmolVLA recipe; `mujoco_policy.py` |
| places the cube in the sim and lets the policy drive (`--reach`/`--azim` to move |
| the cube, `--view` for the 3D viewer). Same loop works on the real |
| [dobri420/pick-cube-so101](https://huggingface.co/datasets/dobri420/pick-cube-so101). |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("dobri420/pick-cube-so101-sim") |
| print(ds.num_episodes, ds.num_frames) # 535 205329 |
| ``` |
|
|
| Built with [LeRobot](https://github.com/huggingface/lerobot) (`codebase_version: v3.0`). |
|
|
