Datasetpublic

alexhegit/so101-simstudio-lab01-pnp

SO-101 Lab01 Pick-and-Place Dataset Expert demonstrations for MuJoCo sim2sim pick-and-place, recorded with SO-101 SimStudio (real leader arm → MuJoCo follower, LeRobot v3.0). Episodes 50 @ 20 Hz Task Pick up the cube and place it in the box. Robot so101_mujoco (6-D joint position actions) Cameras camera_front, camera_top, camera_wrist (640×480) Documentation Resource Link SimStudio repo rocPAI-Forge/so101-simstudio Lab 01… See the full description on the dataset page: https://huggingface.co/datasets/alexhegit/so101-simstudio-lab01-pnp.

sourceHugging Faceapache-2.0updated 1mo agoView on Hugging Face

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Dataset Card

SO-101 Lab01 Pick-and-Place Dataset

Expert demonstrations for MuJoCo sim2sim pick-and-place, recorded with [SO-101 SimStudio](https://github.com/rocPAI-Forge/so101-simstudio) (real leader arm → MuJoCo follower, LeRobot v3.0).


Episodes	50 @ 20 Hz
Task	Pick up the cube and place it in the box.
Robot	`so101_mujoco` (6-D joint position actions)
Cameras	`camera_front`, `camera_top`, `camera_wrist` (640×480)

Documentation

Resource	Link
SimStudio repo	rocPAI-Forge/so101-simstudio
Lab 01 (record → validate → train → eval)	labs/lab01_pnp/lab01_pnp.md

For recording setup, validation, replay, and training commands, see Lab 01 in the repo above.

Fine-tuned policy

Policies trained on this dataset:

—ACT: alexhegit/so101-simstudio-lab01-pnp-act
—SmolVLA (MI300X bs64 @ 50K): alexhegit/so101-simstudio-lab01-pnp-smolvla

Quick load

python

from lerobot.datasets import LeRobotDataset

dataset = LeRobotDataset("alexhegit/so101-simstudio-lab01-pnp")
sample = dataset[0]