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VigneshBhavan/so101-newton-actuator-ab-paired-demos

SO-101 Newton Workshop + AnchorBench Paired Demonstrations These are the exact GR00T-ready LeRobot datasets used by the published SO-101 AnchorBench-versus-Workshop continuation checkpoints. Contents These labels match the accompanying PDF: PDF label Dataset folder Simulated actuator profile Episodes Frames FPS AnchorBench anchorbench_sysid AnchorBench actuator profile 118 39,421 30 Workshop workshop Workshop profile / Workshop baseline 118 39,421 30… See the full description on the dataset page: https://huggingface.co/datasets/VigneshBhavan/so101-newton-actuator-ab-paired-demos.

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Dataset Card

SO-101 Newton Workshop + AnchorBench Paired Demonstrations

These are the exact GR00T-ready LeRobot datasets used by the published SO-101 AnchorBench-versus-Workshop continuation checkpoints.

These labels match the accompanying PDF:

PDF label	Dataset folder	Simulated actuator profile	Episodes	Frames	FPS
AnchorBench	`anchorbench_sysid`	AnchorBench actuator profile	118	39,421	30
Workshop	`workshop`	Workshop profile / Workshop baseline	118	39,421	30

Each folder is a complete LeRobot dataset with:

—data/ Parquet episode files;
—videos/observation.images.external_D455/;
—videos/observation.images.ego/;
—meta/info.json, episodes.jsonl, tasks.jsonl, statistics, and modality metadata.

The PDF calls the policy inputs front and wrist. Their original LeRobot recording keys are external_D455 and ego, respectively; these are aliases for the same two RGB streams, not additional cameras.

Task instruction:

Pick up the vial and place it in the yellow rack

Quick visual inspection:

Pairing Contract

The same accepted teacher traces and frozen scene snapshots were replayed once with each actuator profile. Episode N on one side corresponds to episode N on the other side. The final paired merge contains:

—85 main-task pairs / 30,065 frames per profile;
—33 release-focused pairs / 9,356 frames per profile;
—118 total pairs / 39,421 frames per profile.

The action stream SHA-256 recorded by the merge report is identical on both sides:

b77c7a2a71423fa426d4e6fa37faac97efec9005d9cfa709459de65045f9df28

Checkpoints

https://huggingface.co/VigneshBhavan/so101-newton-actuator-ab-paired-checkpoints

See that repository's reproduction/ folder for the exact training configs, pair manifests, Newton USD, and actuator parameters.

Local Structure After Download

text

anchorbench_sysid/
  data/
  meta/
  videos/
workshop/
  data/
  meta/
  videos/
README.md