alexhegit/so101-simstudio-lab01-pnp

SO-101 Lab01 Pick-and-Place Dataset

Expert demonstrations for MuJoCo sim2sim pick-and-place, recorded with SO-101 SimStudio (real leader arm → MuJoCo follower, LeRobot v3.0).

Episodes	50 @ 20 Hz
Task	Pick up the cube and place it in the box.
Robot	so101_mujoco (6-D joint position actions)
Cameras	camera_front, camera_top, camera_wrist (640×480)

Documentation

Resource	Link
SimStudio repo	rocPAI-Forge/so101-simstudio
Lab 01 (record → validate → train → eval)	labs/lab01_pnp/lab01_pnp.md

For recording setup, validation, replay, and training commands, see Lab 01 in the repo above.

Fine-tuned policy

Policies trained on this dataset:

• ACT: alexhegit/so101-simstudio-lab01-pnp-act
• SmolVLA (MI300X bs64 @ 50K): alexhegit/so101-simstudio-lab01-pnp-smolvla

Quick load

from lerobot.datasets import LeRobotDataset

dataset = LeRobotDataset("alexhegit/so101-simstudio-lab01-pnp")
sample = dataset[0]