README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

XLe SO-101 Object Picking

Real-world object-picking dataset for fine-tuning allenai/MolmoAct2-SO100_101 on an SO-101 follower arm mounted on XLeRobot.

Stored in LeRobot v3.0 format.

• Episodes: 60
• Frames: 47,175
• FPS: 30
• Resolution: 640 × 480 RGB
• Cameras: Top + Wrist
• State / Action: 6 SO-101 joint positions
• Tasks: 4

The dataset contains synchronized camera observations, robot states, and actions collected from real SO-101 demonstrations on XLeRobot.

Base Checkpoint

allenai/MolmoAct2-SO100_101

Format

LeRobot v3.0 with Parquet data, episode/task metadata, statistics, and encoded camera videos.