xinjiehu76/so101-pick-place-dataset

SO-ARM101 Pick-and-Place Dataset

This dataset contains teleoperated pick-and-place demonstrations collected on the SO-ARM101 6-DoF robotic arm using the LeRobot framework.

Task

Grasp a red cube and place it into a gray bowl.

Views

The dataset is organized into two subsets corresponding to different camera viewpoints:

• view_above/: Top-down camera view (30 episodes)
• view_side/: Side-view camera view (30 episodes)

Each subset contains independent demonstrations of the same task under a fixed camera setup.

Data Collection

• Robot: SO-ARM101 (6-DoF, Feetech servos)
• Episodes: 60 total
• Collection: Leader–follower teleoperation
• Observations: RGB images, proprioception, actions