50 episodes · 30 fps · 2 cameras · 640×480 av1
SO-101 teleop cubes to bowl
LeRobot v2.1 dataset: teleoperated SO-101 arm picking red and yellow cubes and placing them in a white bowl.
- Robot:
so101_follower(6-DOF arm + gripper) - Episodes: 50
- Frames: ~38.8k @ 30 FPS
- Cameras: wrist (
observation.images.ego), front (observation.images.external_D455) - Task: "Pick up the cubes and place them in the bowl"
GR00T finetuning
meta/modality.json maps LeRobot keys to GR00T embodiment keys (front / wrist, single_arm / gripper).
Use with Isaac-GR00T SO100 config:
--dataset-path <path/to/this/dataset>
--modality-config-path examples/SO100/so100_config.py
--embodiment-tag NEW_EMBODIMENT
Eval rename map: {"ego": "wrist", "external_D455": "front"}.
Load with LeRobot
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("qb1t/so101_teleop_cubes")
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