| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so101 |
| - pi0.5 |
| --- |
| |
| # so101_block_stack |
|
|
| The block stack in simulation and on the arm, in one dataset. lerobot trains on a single dataset, so learning from both means writing both into one. Built by `sim/scripts/combine.py` in [vla-test](https://github.com/danwahl/vla-test) from [drwahl/so101_block_stack_sim](https://huggingface.co/drwahl/so101_block_stack_sim) and [drwahl/so101_block_stack_hw](https://huggingface.co/drwahl/so101_block_stack_hw). |
|
|
| 468 episodes in [LeRobot](https://github.com/huggingface/lerobot) v3.0 format at 10 Hz: the 360 sim episodes, and the 36 hardware episodes written three times. How many times the hardware set is written is what sets how much of a batch comes off the arm. |
|
|
| `meta/train_layouts.jsonl` and `meta/eval_layouts.jsonl` come from the sim set. `meta/stats.json` is recomputed over the whole. |
|
|
| [drwahl/pi05_so101_block_stack](https://huggingface.co/drwahl/pi05_so101_block_stack) is trained on this. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{wahl2026so101blockstack, |
| title = {{SO-101 block stacking demonstrations in simulation and on hardware}}, |
| author = {Wahl, Daniel}, |
| year = {2026}, |
| publisher = {Hugging Face}, |
| doi = {10.57967/hf/10750}, |
| url = {https://huggingface.co/datasets/drwahl/so101_block_stack} |
| } |
| |
| @misc{wahl2026so101blockstacksim, |
| title = {{SO-101 block stacking demonstrations in simulation}}, |
| author = {Wahl, Daniel}, |
| year = {2026}, |
| publisher = {Hugging Face}, |
| doi = {10.57967/hf/10748}, |
| url = {https://huggingface.co/datasets/drwahl/so101_block_stack_sim} |
| } |
| |
| @misc{wahl2026so101blockstackhw, |
| title = {{SO-101 block stacking demonstrations on hardware}}, |
| author = {Wahl, Daniel}, |
| year = {2026}, |
| publisher = {Hugging Face}, |
| doi = {10.57967/hf/10749}, |
| url = {https://huggingface.co/datasets/drwahl/so101_block_stack_hw} |
| } |
| ``` |
|
|
