Datasetpublic

aailabkaist/so101_coffee_recovery_2

so101_coffee_recovery_2 424 teleoperated SO-101 demonstrations of two steps from a coffee-making routine, 212 episodes each: "pick up the cup near the blue circle""place the cup on the blue circle" Both steps were recorded with two cup variants — a red-banded paper cup and a white one — 106 episodes per step-and-colour. This dataset was created using LeRobot. Overview Episodes / frames 424 / 86,049 (47.8 min) Composition 2 steps × 2 colours… See the full description on the dataset page: https://huggingface.co/datasets/aailabkaist/so101_coffee_recovery_2.

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face

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Dataset Card

so101coffeerecovery_2

424 teleoperated SO-101 demonstrations of two steps from a coffee-making routine, 212 episodes each:

"pick up the cup near the blue circle" "place the cup on the blue circle"

Both steps were recorded with two cup variants — a red-banded paper cup and a white one — 106 episodes per step-and-colour.

This dataset was created using LeRobot.

Overview


Episodes / frames	424 / 86,049 (47.8 min)
Composition	2 steps × 2 colours × 106 episodes
Episode length	mean 203 frames (6.8 s), median 194, range 136–432
Distinct instructions	2
Robot	sofollower, 6-DoF — `shoulderpan`,` shoulderlift`, `elbowflex`,` wristflex`, `wristroll`,` gripper`
Cameras	`observation.images.front`, `observation.images.wrist` — 640×480, av1
fps	30
Format	LeRobotDataset v3.0

Episode ranges

Neither the step nor the cup colour is part of the instruction string alone, so this table is what maps an episode to its step and cup. Every combination is one contiguous block of episode_index:

`episode_index`	Step	Cup	Episodes	Frames	Instruction
0–105	11	red	106	22,422	`pick up the cup near the blue circle`
106–211	11	white	106	22,154	`pick up the cup near the blue circle`
212–317	12	red	106	20,822	`place the cup on the blue circle`
318–423	12	white	106	20,651	`place the cup on the blue circle`
			424	86,049

python

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds         = LeRobotDataset("aailabkaist/so101_coffee_recovery_2")
step11     = LeRobotDataset("aailabkaist/so101_coffee_recovery_2", episodes=list(range(0, 212)))
step12     = LeRobotDataset("aailabkaist/so101_coffee_recovery_2", episodes=list(range(212, 424)))
step11_red = LeRobotDataset("aailabkaist/so101_coffee_recovery_2", episodes=list(range(0, 106)))

Steps and instructions

Step	`task_index`	Instruction	Episodes
11	0	`pick up the cup near the blue circle`	212
12	1	`place the cup on the blue circle`	212