Update dataset card for SO-101 data

README.md

@@ -9,6 +9,7 @@ tags:
 - sim-to-real
 - h1
 - g1
+- so101
 - unitree
 - RL
 - isaaclab
@@ -29,13 +30,13 @@ configs:
 
 Anchor-Lab is a tabular robotics dataset captured from Anchor Lab, a sim-to-real transfer laboratory from NVIDIA Robotics. The dataset is designed to support calibration of physics simulation against physical robot measurements for zero-shot sim-to-real deployment.
 
-The public release contains long-form parquet tables of robot experiment telemetry. Each row records a timestamped scalar measurement for an experiment and signal field. The dataset covers H1- and G1-family humanoid robot experiments, including arm, leg, multi-joint, single-joint, and elbow test-stand measurements.
+The public release contains long-form parquet tables of robot experiment telemetry. Each row records a timestamped scalar measurement for an experiment and signal field. The dataset covers H1- and G1-family humanoid robot experiments and SO-101 arm experiments, including arm, leg, multi-joint, single-joint, 50-motion, and elbow test-stand measurements.
 
 For simplicity, this card refers to the dataset as Anchor-Lab.
 
 ## Dataset Group Overview
 
-The release is organized into seven top-level data groups under `data/`.
+The release is organized into eight top-level data groups under `data/`.
 
 | Group | Description | Approx. storage |
 |---|---|---:|
@@ -46,6 +47,7 @@ The release is organized into seven top-level data groups under `data/`.
 | `h1_elbow_teststand` | H1 elbow test-stand system-identification measurements across frequency, amplitude, and position settings. | 334 MB |
 | `h1_multijoint` | H1 multi-joint trials with chirp and sine-style excitations across frequency, amplitude, in-phase, antiphase, and wave settings. | 318 MB |
 | `h1_single_joint` | H1 single-joint trials for elbow, shoulder pitch, shoulder raise, and related joints using sine and chirp-style excitations. | 349 MB |
+| `so101_arm_50motion` | SO-101 arm 50-motion trials across motion patterns such as backlash detection, frequency sweep, multisine, pick-place, single-joint motions, and workspace sweeps. | 86.1 MB |
 
 
 ## Dataset Category Previews
@@ -96,7 +98,7 @@ This dataset is intended for researchers and AI practitioners working on:
 - System identification for humanoid robot joints, actuators, and coupled multi-joint dynamics.
 - Sim-to-real transfer workflows for zero-shot or few-shot physical deployment.
 - Validation of physics-engine, actuator, controller, and sensor models against laboratory measurements.
-- Robot-control research using timestamped measurements from H1 and G1 humanoid platforms.
+- Robot-control research using timestamped measurements from H1, G1, and SO-101 platforms.
 - Analysis pipelines for long-form robot telemetry in parquet format.
 
 This dataset is not intended to be used as the sole validation source for safety-critical robot deployment. Controllers, policies, and calibrated models derived from this dataset should be evaluated in simulation, test stands, and controlled physical environments before any real-world deployment.
@@ -150,6 +152,10 @@ The `h1_multijoint` group contains H1 multi-joint experiments. Visible file nami
 
 The `h1_single_joint` group contains H1 single-joint experiments for elbow, shoulder pitch, shoulder raise, and related joints. Visible file naming patterns include chirp and sine trials across pose variants and repeated trial indices.
 
+### SO-101 Arm - 50 Motion
+
+The `so101_arm_50motion` group contains SO-101 arm measurements across 50 motion patterns. Visible file naming patterns include train and held-out splits, backlash detection, frequency sweep, multisine, pick-place, single-joint motions, and workspace sweeps.
+
 ## Dataset Format
 
 | Field | Type | Description |
@@ -177,7 +183,8 @@ Anchor-Lab/
     ├── g1_leg_single_joint/
     ├── h1_elbow_teststand/
     ├── h1_multijoint/
-    └── h1_single_joint/
+    ├── h1_single_joint/
+    └── so101_arm_50motion/
 ```
 
 Each leaf directory contains parquet files for individual experiments or trials. File names generally follow this pattern, with group-specific variations:
@@ -229,6 +236,7 @@ data/g1_leg_single_joint/*
 data/h1_elbow_teststand/*
 data/h1_multijoint/*
 data/h1_single_joint/*
+data/so101_arm_50motion/*
 ```
 
 Download a subset from Python:
@@ -263,9 +271,9 @@ print(ds[0])
 | Quantity | Count / Size |
 |---|---:|
 | Rows in default train split | 992,000 |
-| Top-level data groups | 7 |
+| Top-level data groups | 8 |
 | Public file format | Parquet |
-| Total repository file size | 1.86 GB |
+| Total repository file size | 1.94 GB |
 | Modalities | Tabular telemetry with string metadata fields |
 
 Approximate storage by top-level data group:
@@ -279,7 +287,8 @@ Approximate storage by top-level data group:
 | `h1_elbow_teststand` | 334 MB |
 | `h1_multijoint` | 318 MB |
 | `h1_single_joint` | 349 MB |
-| Total | 1.86 GB |
+| `so101_arm_50motion` | 86.1 MB |
+| Total | 1.94 GB |
 
 ## Curation Notes
 
@@ -295,7 +304,7 @@ Approximate storage by top-level data group:
 - The release does not define standardized train/validation/test splits for model benchmarking.
 - Measurements may be specific to the hardware revision, firmware, controller configuration, sensors, test stand, and laboratory setup used during capture.
 - Timing, filtering, actuator latency, sensor latency, and controller-loop details may affect downstream system-identification results.
-- The dataset focuses on H1 and G1 humanoid robot experiments and should not be treated as representative of all robots or all operating conditions.
+- The dataset focuses on H1, G1, and SO-101 robot experiments and should not be treated as representative of all robots or all operating conditions.
 - Future releases could add per-file manifests, units, calibration parameters, robot configuration metadata, controller settings, sensor descriptions, and benchmark splits.
 
 ## Ethical Considerations