Harrysunshine/so101-dm05-lora-sim-real-10task
Robotics • Updated • 41
Search is not available for this dataset
action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 13.5 | frame_index int64 0 404 | episode_index int64 0 499 | index int64 0 164k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
SO-101 仿真抓放数据集 v2
SO-101 机械臂在 ManiSkill3 / SAPIEN 里的抓放示教，机器人模型、物体尺寸、相机标定都对齐一套真实的桌面套件。 《具身智能 21 讲》第 10、12 讲和 Dexmal DM0.5 / DW0.5 工作坊用的都是这一份。
| config | 任务指令 | 物体 | 集数 | 帧数 |
|---|---|---|---|---|
cube40 |
Pick up a cube and place in the bin |
40 mm 方块 | 498 | 167,804 |
cube20 |
Pick up a small cube and place in the bin |
20 mm 方块 | 500 | 163,759 |
cylinder40 |
Pick up a can and place in the bin |
40 mm 圆柱，立放 | 500 | 163,981 |
| 合计 | 1,498 | 495,544 |
LeRobot v3.0 格式，robot_type = so_follower，30 fps，top 与 wrist 两路 640×480 RGB。
任务指令与真机录制里对应的任务逐字相同；cube20 在真机上没有对应任务。
与 v1 的区别
v1 的轨迹是脚本伺服， 抓取前先垂直抬起、高位平移、再垂直落下。v2 重写了运动生成：
- 取物是一条后退着下降的曲线，最后 5 cm 才转成垂直下插；搬运是一段弧线，拐点不停车；
- 按末端笛卡尔速度上限 0.12 m/s 重新配时，逐关节步长上限取真机 p95 实测值；
- 末端速度中位数 8.39 cm/s，真机是 8.79 cm/s；末端加速度最差的一集 84 cm/s²，只有真机中位数的五分之一。
每一集都经环境自己的 evaluate() 判为成功才入库（专家成功率 93.1%，n=405）。
v1 多一份 cube40_rl（强化学习抓取），v2 没有。
单位
action 与 observation.state 都是 6 维、不归一化，口径与真机 so_follower 录出来的相同：
五个臂关节是角度（度），夹爪是**行程的 0–100%**。action 是绝对关节位置目标（pd_joint_pos）。
每个场景上传前都用 source/scripts/verify_same_as_real.py 与真机数据逐项对过口径。
单位换算的细节见 v1 的数据集卡。
源码
source/0_dataset_gen/ 是产线（配方、专家、录制、各道门），source/scripts/ 是实验侧的收口、审计与复核脚本。
连判据一起发布，复现出来的数据能自证是同一份。
相关
- 同一份数据上训的模型：SmolVLA、 SmolVLA LoRA、 π0 LoRA、 ACT、 DM0.5 LoRA、 DW0.5
- 真机 9 个任务的数据：https://modelscope.cn/datasets/zhuzhuangtian/so101-pick-place-tasks
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Models trained or fine-tuned on Harrysunshine/so101-sim-pickplace-v2