---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- pi0.5
---

# so101_block_stack_sim

Scripted-oracle demonstrations of an [SO-101](https://github.com/TheRobotStudio/SO-ARM100) stacking one 30 mm block on another, in a [ManiSkill3](https://github.com/haosulab/ManiSkill) cell with two cameras on the intrinsic calibrated from the physical arm. Collected by `sim/scripts/collect.py` in [vla-test](https://github.com/danwahl/vla-test).

360 episodes in [LeRobot](https://github.com/huggingface/lerobot) v3.0 format at 10 Hz, 60 for each of the six colour orderings. `observation.state` and `action` are the five arm joints and the gripper, `observation.images.wrist` and `observation.images.top` 480x480 H.264.

Layouts are screened on state alone and only the ones the oracle stacks are rendered, so every episode is a success. An episode starts where a cycle leaves the arm, jaws open or shut.

`meta/train_layouts.jsonl` records the block spawns and the opening pose each episode started from, and `meta/eval_layouts.jsonl` 150 more, held out, to measure a policy on. Both are what the env's `reset` takes back, so an evaluation sets off from where a demonstration did.

`meta/stats.json` gives `observation.state` and `action` the arm's joint travel as their normalization range. pi0.5 spells the state out in its prompt as one of 256 bins across that range and does not clip, so the range has to hold every pose the arm can reach.

Revision `pi05-sim-train` is the earlier collection, and is what [drwahl/pi05_so101_block_stack_sim](https://huggingface.co/drwahl/pi05_so101_block_stack_sim) was trained on. `main` carries the wrist camera panned onto where the arm holds it, matching the physical rig.

## Citation

```bibtex
@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}
}
```