Datasetpublic

gpudad/so101_pick_cube_v2

SO-101 Pick Cube Dataset A robotics manipulation dataset featuring the SO-101 robot arm performing pick-and-place tasks in MuJoCo simulation. The robot learns to pick up a cube and place it into a bin. Dataset Details Property Value Robot SO-101 (6-DoF arm with gripper) Task Pick cube and place in bin Episodes 993 FPS 30 Cameras 3 (front, overhead, wrist) Resolution 640x480 Format LeRobot v2.0 Cameras Front Camera:… See the full description on the dataset page: https://huggingface.co/datasets/gpudad/so101_pick_cube_v2.

sourceHugging Faceapache-2.0updated 9mo agoView on Hugging Face

1likes80downloads

Dataset Card

SO-101 Pick Cube Dataset

A robotics manipulation dataset featuring the SO-101 robot arm performing pick-and-place tasks in MuJoCo simulation. The robot learns to pick up a cube and place it into a bin.

Dataset Details

Property	Value
Robot	SO-101 (6-DoF arm with gripper)
Task	Pick cube and place in bin
Episodes	993
FPS	30
Cameras	3 (front, overhead, wrist)
Resolution	640x480
Format	LeRobot v2.0

Cameras

—Front Camera: Third-person view of the workspace
—Overhead Camera: Top-down bird's eye view
—Wrist Camera: First-person view from the gripper

Joint States

The dataset includes 6 joint positions and actions:

—shoulder_pan - Base rotation
—shoulder_lift - Shoulder elevation
—elbow_flex - Elbow bend
—wrist_flex - Wrist pitch
—wrist_roll - Wrist rotation
—gripper - Gripper open/close

Usage

python

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("gpudad/so101_pick_cube")
print(f"Number of episodes: {dataset.num_episodes}")
print(f"Number of frames: {dataset.num_frames}")

Training with LeRobot

bash

# Train ACT policy
python lerobot/scripts/train.py \
  --dataset.repo_id=gpudad/so101_pick_cube \
  --policy=act \
  --output_dir=outputs/act_so101_pick_cube

Environment

The simulation environment uses MuJoCo with:

—SO-101 robot arm mounted on a table
—A colored cube as the manipulation target
—A bin as the placement destination
—Randomized cube positions for diverse training data

License

This dataset is released under the Apache 2.0 License.

Citation

bibtex

@dataset{so101_pick_cube_2025,
  title={SO-101 Pick Cube Dataset},
  author={gpudad},
  year={2025},
  publisher={Hugging Face},
  url={https://huggingface.co/datasets/gpudad/so101_pick_cube}
}