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cpstroum
/
so101-brachiomimus-50ep

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
teleoperation
imitation-learning
act
Libraries:
Datasets
Dask
Polars
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float32
0
28
⌀
frame_index
int64
0
839
⌀
episode_index
int64
0
49
⌀
index
int64
0
28k
⌀
task_index
int64
0
0
⌀
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End of preview. Expand in Data Studio

SO-101 Teleoperation Dataset — Brachiomimus / Brachius Rex

Dataset Summary

50 teleoperated demonstration episodes collected on a custom SO-ARM101 two-arm setup, intended as training data for an ACT (Action Chunking Transformer) policy, with a planned follow-up fine-tune of a VLA model (MolmoAct2 or GR00T N1.7) on the same data.

  • Task: "Pick up the yellow block and put it in the blue box
  • Episodes: 50
  • Robot: SO-ARM101 Pro Kit (LeRobot so101_follower / so101_leader)
  • Follower arm ("Brachiomimus"): 6x C047 servos (1:345 gear ratio), 12V
  • Leader arm ("Brachius Rex"): 3x C046 (1:147), 2x C044 (1:191), 1x C001 (1:345), 5V
  • Camera: Logitech C920, single front-facing view
  • Teleoperator: human puppeteer (leader arm)
  • Recording software: LeRobot v0.4.4
  • Video codec: H.264

Collection Notes

  • Only successful task completions were retained; failed or fumbled attempts were discarded during recording rather than included, since ACT is trained via pure behavior cloning and has no mechanism to learn "what not to do" from a failure example.
  • Natural variation in start position and pacing was preserved across episodes to support generalization; scene layout and lighting were kept consistent to avoid confounding the policy with background changes.
  • Recorded on a Windows 11 / Surface Pro 7+ host via USB-connected Seeed Studio Servo Driver Boards (XIAO v1.0).

Intended Use

Training an ACT policy for as the first stage of a longer-term roadmap: ACT policy → VLA fine-tuning → more complex manipulation tasks (e.g. silverware sorting).

Dataset Structure

Stored in LeRobotDataset format. Episode boundaries are tracked via timestamp metadata rather than separate video files — all 50 episodes are encoded into a single video file per camera view.

Limitations

  • Single camera view (no wrist or side camera).
  • Single task variant; no environmental or lighting variation was deliberately introduced in this collection pass.
  • Collected by a single teleoperator across one session.
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