5hadytru/so101_bench_sim_WM_v2.1

SO-101 Bench: Sim Training Dataset (WM, LeRobot v2.1)

This is 5hadytru/so101_bench_sim_WM converted from LeRobot v3.0 to LeRobot v2.1 (one parquet and one MP4 per episode per camera). The content is the same. This is the format GR00T fine-tuning reads, and 5hadytru/so101_bench_GR00T_N1.7-3B was trained on it.

• 3,629 episodes, 1,996,120 frames at 30 fps, simulated in Isaac Lab (LeRobot v2.1)
• Current frames: observation.images.overhead, observation.images.wrist (640×480)
• Initial frames: observation.images.overhead_init, observation.images.wrist_init (the episode's settled frame 0, repeated)
• observation.state / action: 6-DoF SO-101 follower joint positions in LeRobot calibrated units
• meta/modality.json: GR00T modality config (single_arm 5-D + gripper 1-D)
• meta/episode_layouts.jsonl: the object layout of each episode