lichtphyz/so101_block_to_bin_v3

This dataset was created using LeRobot.

Dataset Description

Part of the SO-101 block-to-bin collection (models, training data and real-robot evaluations). Code, training commands and lessons learned: github.com/Lichtphyz/so101-block-to-bin.

Teleoperated demonstrations for a single SO-101 arm (leader–follower) doing "Put the block in the bin.", with a front (workspace) camera and a wrist camera, 640×480 @ 30 fps. 125 episodes, 55,677 frames:

• 100 block-to-bin demonstrations. In the last 50, the block is always grid-aligned and the arm hovers, then descends to grasp. 40% of those use a shorter block. (These 100 are also published separately as lichtphyz/so101_block_to_bin.)
• 15 idle episodes: empty table, empty bin, blocks already in the bin, or hands passing through; the arm stays at rest.
• 10 recovery episodes: missed grasp → regrasp → bin.

Policies trained on this data, with their real-robot results (10 trials each, same block placements):

• ACT: lichtphyz/act_v3_aug_desktop, 9/10 (evaluation)

• Diffusion Policy: lichtphyz/diffusion_v3_desktop, 8/10 (evaluation)

• SmolVLA: lichtphyz/smolvla_v3_desktop, 7/10 (evaluation)

• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    },
    "total_episodes": 125,
    "total_frames": 55677,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:125"
    }
}