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Episodes Preview SO-101 Visualizer Open in visualizer

4.37k episodes · 30 fps · 2 cameras · 640×480 av1

SO-101 Bench: Real Training Dataset

The full real-world training dataset for SO-101 Bench, in LeRobot v3.0 format: teleoperated demonstrations on a physical SO-101 arm with ~30 household objects.

4,367 episodes, 2,465,943 frames at 30 fps, 1,081 unique task instructions
Cameras: observation.images.overhead and observation.images.wrist (640×480)
observation.state / action: 6-DoF SO-101 follower joint positions

See also the simulated counterpart, 5hadytru/so101_bench_sim.

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so101_bench

Assets, datasets, and policies used in "SO-101 Bench: Accessible Spatial Manipulation" • 13 items • Updated 3 days ago