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---
license: apache-2.0
task_categories:
- robotics
tags:
- lerobot
- so101
- manipulation
- pick-and-place
- simulation
- mujoco
configs:
- config_name: default
data_files:
- split: train
path: "data/**/*.parquet"
---
# SO-101 Pick Cube Dataset
<p align="center">
<img src="preview.png" alt="Dataset Preview" width="800"/>
</p>
A robotics manipulation dataset featuring the **SO-101 robot arm** performing pick-and-place tasks in MuJoCo simulation. The robot learns to pick up a cube and place it into a bin.
## Dataset Details
| Property | Value |
|----------|-------|
| Robot | SO-101 (6-DoF arm with gripper) |
| Task | Pick cube and place in bin |
| Episodes | 993 |
| FPS | 30 |
| Cameras | 3 (front, overhead, wrist) |
| Resolution | 640x480 |
| Format | LeRobot v2.0 |
## Cameras
- **Front Camera**: Third-person view of the workspace
- **Overhead Camera**: Top-down bird's eye view
- **Wrist Camera**: First-person view from the gripper
## Joint States
The dataset includes 6 joint positions and actions:
- `shoulder_pan` - Base rotation
- `shoulder_lift` - Shoulder elevation
- `elbow_flex` - Elbow bend
- `wrist_flex` - Wrist pitch
- `wrist_roll` - Wrist rotation
- `gripper` - Gripper open/close
## Usage
```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("gpudad/so101_pick_cube")
print(f"Number of episodes: {dataset.num_episodes}")
print(f"Number of frames: {dataset.num_frames}")
```
### Training with LeRobot
```bash
# Train ACT policy
python lerobot/scripts/train.py \
--dataset.repo_id=gpudad/so101_pick_cube \
--policy=act \
--output_dir=outputs/act_so101_pick_cube
```
## Environment
The simulation environment uses MuJoCo with:
- SO-101 robot arm mounted on a table
- A colored cube as the manipulation target
- A bin as the placement destination
- Randomized cube positions for diverse training data
## License
This dataset is released under the Apache 2.0 License.
## Citation
```bibtex
@dataset{so101_pick_cube_2025,
title={SO-101 Pick Cube Dataset},
author={gpudad},
year={2025},
publisher={Hugging Face},
url={https://huggingface.co/datasets/gpudad/so101_pick_cube}
}
```
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