---
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}
}
```