---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- pi0.5
---

# so101_block_stack_hw

The same block stack as [drwahl/so101_block_stack_sim](https://huggingface.co/drwahl/so101_block_stack_sim), recorded on a physical [SO-101](https://github.com/TheRobotStudio/SO-ARM100). Recorded by `hw/oracle_replay.py` in [vla-test](https://github.com/danwahl/vla-test).

36 episodes in [LeRobot](https://github.com/huggingface/lerobot) v3.0 format at 10 Hz, 6 for each of the six colour orderings, in the schema the sim collector writes, so hardware and sim episodes are interchangeable to a policy. `observation.state` and `action` are the five arm joints and the gripper, `observation.images.wrist` and `observation.images.top` 480x480. Each lens is undistorted and reprojected onto the sim's pinhole, so a frame off the arm and a rendered frame carry the same intrinsic.

A layout is planned in the simulator, its camera view is blended with the live one, and the blocks are moved onto their sim positions. The oracle's joint commands are then sent open loop and the arm's own states and frames are recorded against them, so the difference between the two is what the trajectory lost on the way to the arm.

The gripper channel is in the follower's own units, not the radians the sim records.

## Citation

```bibtex
@misc{wahl2026so101blockstackhw,
  title = {{SO-101 block stacking demonstrations on hardware}},
  author = {Wahl, Daniel},
  year = {2026},
  publisher = {Hugging Face},
  doi = {10.57967/hf/10749},
  url = {https://huggingface.co/datasets/drwahl/so101_block_stack_hw}
}
```