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  1. README.md +86 -0
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+ # SO101 Grasp-99 Dataset Pack
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+
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+ ## 简介
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+
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+ 本目录是 `SO101` 真机抓取任务的数据仓库，用于和模型成果仓库 `artifacts/` 配套使用。
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+
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+ 设计目标：
8
+
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+ - **数据仓库** 与 **模型仓库** 分离
10
+ - 数据仓库存放结构化的 LeRobot 数据集
11
+ - 模型仓库存放成功模型、rollout 视频、README 和实验复盘
12
+ - 两个仓库互相联动，方便他人单独下载数据或模型进行复现
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+
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+ 当前目录下包含三个分任务数据集：
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+
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+ - `so101-grasp-left33`
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+ - `so101-grasp-center33`
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+ - `so101-grasp-right33`
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+
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+ 它们分别对应：
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+
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+ - 左侧抓取工作区
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+ - 中侧抓取工作区
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+ - 右侧抓取工作区
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+
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+ 每个子目录本身都是一个**独立、可直接用于 LeRobot 训练的 dataset root**。
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+
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+ ## 目录结构
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+
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+ ```text
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+ so101-grasp-99/
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+ ├── README.md
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+ ├── so101-grasp-left33/
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+ │ ├── data/
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+ │ ├── meta/
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+ │ └── videos/
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+ ├── so101-grasp-center33/
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+ │ ├── data/
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+ │ ├── meta/
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+ │ └── videos/
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+ └── so101-grasp-right33/
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+ ├── data/
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+ ├── meta/
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+ └── videos/
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+ ```
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+
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+ ## 当前数据规模
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+
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+ - `so101-grasp-left33`
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+ - `33` episodes
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+ - `8562` frames
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+ - `30 FPS`
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+
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+ - `so101-grasp-center33`
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+ - `33` episodes
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+ - `9739` frames
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+ - `30 FPS`
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+
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+ - `so101-grasp-right33`
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+ - `33` episodes
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+ - `10164` frames
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+ - `30 FPS`
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+
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+ ## 使用方式
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+
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+ 推荐把本仓库与模型仓库放在同一父目录下，例如：
67
+
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+ ```text
69
+ workspace/
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+ ├── so101-grasp-99/
71
+ └── so101-left-sota-pack/
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+ ```
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+
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+ 然后在模型仓库里训练时，直接把 `dataset.root` 指向这里的子目录，例如：
75
+
76
+ ```bash
77
+ --dataset.root=../so101-grasp-99/so101-grasp-left33
78
+ ```
79
+
80
+ 说明：
81
+
82
+ - `dataset.root` 是实际读取数据的关键路径
83
+ - 每个子目录都可以单独作为一个完整的 LeRobot 数据集来使用
84
+ - 这比把 `33..65` 这种 episode 子集直接在同一大数据集上训练更稳，因为可以避免当前 `lerobot` 的 episode 子集索引 bug
85
+
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+ 上传后，其他用户可先下载该数据仓库，再按模型仓库 README 里的指令，把 `dataset.root` 指向相应子目录进行训练。
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