SO-101: pick a ring and place it in a box (101 episodes)
101 teleoperated demonstrations on a 6-DOF SO-ARM101, recorded at 30 fps with two 640x480 cameras (front/overhead and wrist-mounted).
- Task:
Pick up the blue ring and place it in the box - Episodes: 101
- Frames: 34,476
- FPS: 30
- Format: LeRobot dataset v3, videos re-encoded to H.264 (recorded as AV1)
- Features:
observation.state(6),action(6),observation.images.front,observation.images.wrist
Notes on the task design
The container was deliberately changed from a tall bowl to a shallow box. With the bowl the placement phase demanded clearing a high rim, which made the task precision-limited: the demonstrated lift varied by 40% between episodes, so no single policy could satisfy all of them. A shallow box removes that sensitivity.
Joint order: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
Start pose
Every episode begins from the same pose (measured across all 101 episodes):
| joint | mean | sigma |
|---|---|---|
| shoulder_pan | 1.36 | 4.97 |
| shoulder_lift | -100.31 | 0.01 |
| elbow_flex | 90.26 | 0.77 |
| wrist_flex | 73.96 | 0.18 |
| wrist_roll | 1.15 | 4.17 |
| gripper | 0.67 | 0.03 |
Training a policy on this dataset and then starting the robot anywhere else feeds it a state it never saw, which shows up as erratic output rather than a small offset.
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