chans/quantgate-so101-coaster

QuantGate SO-101 demonstrations: cola can to coaster

These are 120 teleoperated demonstrations of one task on an SO-101 arm, recorded with LeRobot 0.6.1 (dataset format v3.0). They are the training and audit data of QuantGate. QuantGate gates INT8, FP16 and FP32 TensorRT builds of an ACT policy before they reach a Jetson Orin Nano Super driving the same arm.

• Task: "Pick up the cola can and place it upright on the coaster". The can is an unopened 268 g cola can. It starts at a marked spot and goes onto a fixed coaster.
• Episodes: 120. Frames: 65,424 at 30 fps. Episode length: 419–893 frames (median 523).
• Robot: SO-101 follower and leader arms (Feetech STS3215). State and action are six joint positions: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
• Cameras (AV1 video):
  • observation.images.top: Logitech C922 overhead, 640×480, with locked exposure and white balance.
  • observation.images.wrist: OpenMV AE3 wrist camera, 320×200.
• All episodes are successful demonstrations.

Splits

splits/lock1_split_manifest.yaml assigns the episodes to train 80 / val 20 / audit 20. The split is seeded (PREREG-SEED-2026-09-14) and was frozen before training (LOCK-1).

• The ACT policy was trained on train only.
• audit episodes were never used for training or calibration. They are the held-out states of the offline audit.
• splits/lock1_dataset_files.json holds the SHA-256 of every data file as frozen at LOCK-1, and this upload matches it.
• checksums.sha256 covers every file in this repository.

Use

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("chans/quantgate-so101-coaster")

People in the data

The operator's hand and arm can appear in the overhead view while they reset the scene. No faces are recorded, and there is no audio.

Related

• Companion dataset with varied start positions: chans/quantgate-so101-coaster-positions.
• Code, pre-registrations and results: the QuantGate repository (public from 2026-10-26).

License: CC BY 4.0.