MadmanMischief/so101_candy_sort_half_127

SO101 candy sort — 127 real demos, half resolution

Task: teach an SO101 arm (leader/follower teleoperation) to pick the blue candies out of a mixed blue and green pile and drop them on a towel. Language prompt: "pick up the blue candy". Built during the B1S Hacktober Physical AI 2026 hackathon with LeRobot 0.6.2.

Robot: SO101 follower, 6 joints (pan, lift, elbow, wrist flex, wrist roll, gripper) at 30 Hz. Cameras: wrist (USB webcam on the gripper) and phone (Android phone beside the table).

The 30 first demos shrunk to half size plus 97 more recorded at half size: 127 episodes, 36,216 frames. Wrist 320x240, phone 640x360. 119 of the 127 demos pick a single candy.

Models trained on it: act_candy_sort_real128

Use with LeRobot

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("MadmanMischief/so101_candy_sort_half_127")

lerobot-train --dataset.repo_id=MadmanMischief/so101_candy_sort_half_127 --policy.type=act --policy.repo_id=<you>/<model>