qb1t/so101_teleop_cubes

SO-101 teleop cubes to bowl

LeRobot v2.1 dataset: teleoperated SO-101 arm picking red and yellow cubes and placing them in a white bowl.

• Robot: so101_follower (6-DOF arm + gripper)
• Episodes: 50
• Frames: ~38.8k @ 30 FPS
• Cameras: wrist (observation.images.ego), front (observation.images.external_D455)
• Task: "Pick up the cubes and place them in the bowl"

GR00T finetuning

meta/modality.json maps LeRobot keys to GR00T embodiment keys (front / wrist, single_arm / gripper).

Use with Isaac-GR00T SO100 config:

--dataset-path <path/to/this/dataset>
--modality-config-path examples/SO100/so100_config.py
--embodiment-tag NEW_EMBODIMENT

Eval rename map: {"ego": "wrist", "external_D455": "front"}.

Load with LeRobot

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("qb1t/so101_teleop_cubes")