| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so101 |
| - teleoperation |
| - quantization |
| - jetson |
| pretty_name: QuantGate SO-101 cola can to coaster (120 demos) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # QuantGate SO-101 demonstrations: cola can to coaster |
|
|
| These are 120 teleoperated demonstrations of one task on an SO-101 arm, recorded with LeRobot 0.6.1 (dataset format |
| v3.0). They are the training and audit data of **QuantGate**. QuantGate gates INT8, FP16 and FP32 TensorRT builds of |
| an ACT policy before they reach a Jetson Orin Nano Super driving the same arm. |
|
|
| - **Task**: "Pick up the cola can and place it upright on the coaster". The can is an unopened 268 g cola can. It |
| starts at a marked spot and goes onto a fixed coaster. |
| - **Episodes**: 120. **Frames**: 65,424 at 30 fps. Episode length: 419–893 frames (median 523). |
| - **Robot**: SO-101 follower and leader arms (Feetech STS3215). State and action are six joint positions: |
| `shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper`. |
| - **Cameras** (AV1 video): |
| - `observation.images.top`: Logitech C922 overhead, 640×480, with locked exposure and white balance. |
| - `observation.images.wrist`: OpenMV AE3 wrist camera, 320×200. |
| - **All episodes are successful demonstrations.** |
|
|
| ## Splits |
|
|
| `splits/lock1_split_manifest.yaml` assigns the episodes to **train 80 / val 20 / audit 20**. The split is seeded |
| (`PREREG-SEED-2026-09-14`) and was frozen before training (LOCK-1). |
| - The ACT policy was trained on `train` only. |
| - `audit` episodes were never used for training or calibration. They are the held-out states of the offline audit. |
| - `splits/lock1_dataset_files.json` holds the SHA-256 of every data file as frozen at LOCK-1, and this upload matches it. |
| - `checksums.sha256` covers every file in this repository. |
|
|
| ## Use |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| ds = LeRobotDataset("chans/quantgate-so101-coaster") |
| ``` |
|
|
| ## People in the data |
|
|
| The operator's hand and arm can appear in the overhead view while they reset the scene. No faces are recorded, and |
| there is no audio. |
|
|
| ## Related |
|
|
| - Companion dataset with varied start positions: `chans/quantgate-so101-coaster-positions`. |
| - Code, pre-registrations and results: the QuantGate repository (public from 2026-10-26). |
|
|
| License: CC BY 4.0. |
|
|
