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SO-101 Pick Cube Dataset
A large-scale 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.
Dataset Details
| Property | Value |
|---|---|
| Robot | SO-101 (6-DoF arm with gripper) |
| Task | Pick cube and place in bin |
| Episodes | 10,993 |
| Total Frames | 1,456,901 |
| FPS | 30 |
| Cameras | 3 (front, overhead, wrist) |
| Resolution | 640x480 |
| Format | LeRobot v3.0 |
Cameras
- Front Camera: External view of the robot and workspace
- Overhead Camera: Top-down view of the workspace
- Wrist Camera: Mounted on the robot's wrist for close-up manipulation view
State/Action Space
6 joints: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
Usage with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("gpudad/so101_pick_cube")
print(f"Episodes: {dataset.num_episodes}")
print(f"Frames: {dataset.num_frames}")
Training
python lerobot/scripts/train.py \
--dataset.repo_id=gpudad/so101_pick_cube \
--policy.type=act \
--env.type=so101_pick_cube
License
Apache 2.0
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