so101-brachiomimus-50ep

SO-101远程操作数据集包含50个通过远程操作收集的演示片段，专门用于训练ACT（动作分块变换器）策略，并计划后续在相同数据上对VLA模型（如MolmoAct2或GR00T N1.7）进行微调。任务为拾取黄色方块并放入蓝色盒子。数据集使用自定义SO-ARM101双臂机器人设置，包括跟随臂（Brachiomimus，使用6个C047伺服电机）和引导臂（Brachius Rex，使用3个C046、2个C044和1个C001伺服电机），摄像头为Logitech C920提供单一前向视角，远程操作由人类操作员通过引导臂完成。记录软件为LeRobot v0.4.4，视频编码为H.264。数据仅保留成功任务完成记录，以支持行为克隆训练，并保持起始位置和节奏的自然变化以促进泛化，同时场景布局和照明保持一致以避免干扰策略。数据集以LeRobotDataset格式存储，所有片段编码为单个视频文件。局限性包括单摄像头视角、单一任务变体以及由单操作员在一次会话中收集。

The SO-101 remote operation dataset contains 50 demonstration clips collected through remote operation, specifically designed for training ACT (Action Chunking Transformer) policies and planned for subsequent fine-tuning of VLA models (such as MolmoAct2 or GR00T N1.7) on the same data. The task is pick up the yellow cube and place it in the blue box. The dataset uses a custom SO-ARM101 dual-arm robot setup, including a follower arm (Brachiomimus, using 6 C047 servo motors) and a leader arm (Brachius Rex, using 3 C046, 2 C044, and 1 C001 servo motors), with a Logitech C920 camera providing a single forward-facing view. Remote operation is performed by a human operator via the leader arm. The recording software is LeRobot v0.4.4, with video encoding as H.264. Data only retains successful task completion records to support behavior cloning training, while maintaining natural variations in starting positions and rhythms to promote generalization, and keeping scene layout and lighting consistent to avoid distracting the policy. The dataset is stored in LeRobotDataset format, with all clips encoded as a single video file. Limitations include a single camera perspective, a single task variant, and collection by a single operator in one session.