robotfuel/so101_t16b_u16

SO-101 pick-and-place - 16 teleop + 16 handheld episodes

The 16-episode teleoperated base plus 16 handheld demonstrations recorded with a GoPro on a hand-held gripper and retargeted into joint space. This is the substitution condition.

episodes	32
frames	9,376
fps	10
robot type	so101_follower
camera	wrist, 640x480
action / state	6 absolute joint positions, degrees

16 teleoperated episodes (5,600 frames, 59.7% of frames) and 16 handheld episodes (3,776 frames). The handheld episodes are shorter, so they contribute fewer frames than their episode count suggests - this mixture holds 16% fewer frames than the 32-teleop set it is compared against.

Trained checkpoint: robotfuel/act_so101_t16b_u16. All three training sets in this study are published so the comparison can be rerun exactly; the recipe is identical across them (50,000 steps, batch 8, seed 1000) and the dataset is the only variable.

Load it

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("robotfuel/so101_t16b_u16")

Sources

• robotfuel/so101_pick_place_50_20260917_v3 - teleoperated pool
• robotfuel/so101_retargeted_umi - handheld pool

Where this comes from

This repo is one artifact of a single study: can cheap handheld demonstrations substitute for robot teleoperation? The three policies below differ only in training data, so they are only meaningful read together.

• Writeup, with the method, the charts and the failure cases — https://robotfuel.fly.dev/research/handheld-demonstrations.html
• Code, raw per-attempt records and the verifier that recomputes every published number — https://github.com/sarafmudit/robotfuel_research/tree/main/handheld-demonstrations

Policies

• robotfuel/act_so101_t16b — 16 teleop (baseline)
• robotfuel/act_so101_t16b_u16 — 16 teleop + 16 handheld
• robotfuel/act_so101_t16b_t16 — 32 teleop (matched-count control)

Datasets

• robotfuel/so101_t16b — 16 teleop episodes
• robotfuel/so101_t16b_u16 — 16 teleop + 16 handheld episodes ← you are here
• robotfuel/so101_t16b_t16 — 32 teleop episodes
• robotfuel/so101_retargeted_umi — handheld GoPro demos, retargeted to joint space
• robotfuel/so101_pick_place_50_20260917_v3 — 50-episode teleop pick-and-place set

Every success rate published anywhere in this set is re-derived from the raw records by the verifier script; no number is transcribed by hand.