robotfuel/so101_t16b

SO-101 pick-and-place - 16 teleop episodes (shared base)

The 16 teleoperated episodes that form the shared base of the handheld substitution study. Both larger training sets are this set plus 16 more episodes.

episodes	16
frames	5,600
fps	10
robot type	so101_follower
camera	wrist, 640x480
action / state	6 absolute joint positions, degrees

All 16 episodes are teleoperated, drawn from the 50-episode pool.

Trained checkpoint: robotfuel/act_so101_t16b. All three training sets in this study are published so the comparison can be rerun exactly; the recipe is identical across them (50,000 steps, batch 8, seed 1000) and the dataset is the only variable.

Load it

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("robotfuel/so101_t16b")

Sources

• robotfuel/so101_pick_place_50_20260917_v3 - teleoperated pool
• robotfuel/so101_retargeted_umi - handheld pool

Where this comes from

This repo is one artifact of a single study: can cheap handheld demonstrations substitute for robot teleoperation? The three policies below differ only in training data, so they are only meaningful read together.

• Writeup, with the method, the charts and the failure cases — https://robotfuel.fly.dev/research/handheld-demonstrations.html
• Code, raw per-attempt records and the verifier that recomputes every published number — https://github.com/sarafmudit/robotfuel_research/tree/main/handheld-demonstrations

Policies

• robotfuel/act_so101_t16b — 16 teleop (baseline)
• robotfuel/act_so101_t16b_u16 — 16 teleop + 16 handheld
• robotfuel/act_so101_t16b_t16 — 32 teleop (matched-count control)

Datasets

• robotfuel/so101_t16b — 16 teleop episodes ← you are here
• robotfuel/so101_t16b_u16 — 16 teleop + 16 handheld episodes
• robotfuel/so101_t16b_t16 — 32 teleop episodes
• robotfuel/so101_retargeted_umi — handheld GoPro demos, retargeted to joint space
• robotfuel/so101_pick_place_50_20260917_v3 — 50-episode teleop pick-and-place set

Every success rate published anywhere in this set is re-derived from the raw records by the verifier script; no number is transcribed by hand.