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