robotfuel/so101_t16b

SO-101 pick-and-place - 16 teleop episodes (shared base)

The 16 teleoperated episodes that form the shared base of the handheld substitution study. Both larger training sets are this set plus 16 more episodes.

episodes	16
frames	5,600
fps	10
robot type	so101_follower
camera	wrist, 640x480
action / state	6 absolute joint positions, degrees

All 16 episodes are teleoperated, drawn from the 50-episode pool.

Trained checkpoint: robotfuel/act_so101_t16b. All three training sets in this study are published so the comparison can be rerun exactly; the recipe is identical across them (50,000 steps, batch 8, seed 1000) and the dataset is the only variable.

Load it

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("robotfuel/so101_t16b")

Sources

• robotfuel/so101_pick_place_50_20260917_v3 - teleoperated pool
• robotfuel/so101_retargeted_umi - handheld pool