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aailabkaist/so101_coffee_subtask_3

so101_coffee_subtask_3 2,140 teleoperated SO-101 demonstrations of a coffee-making routine, recorded as 10 separately instructed steps. Every step was recorded with two cup variants — a red-banded paper cup and a white one — giving 20 (step × cup) combinations of 107 episodes each. This dataset was created using LeRobot. Overview Episodes / frames 2,140 / 463,261 (4.29 h) Composition 10 steps × 2 cup colours × 107 episodes Episode length mean… See the full description on the dataset page: https://huggingface.co/datasets/aailabkaist/so101_coffee_subtask_3.

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face
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Dataset Card

so101coffeesubtask_3

2,140 teleoperated SO-101 demonstrations of a coffee-making routine, recorded as 10 separately instructed steps. Every step was recorded with two cup variants — a red-banded paper cup and a white one — giving 20 (step × cup) combinations of 107 episodes each.

This dataset was created using LeRobot.

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=aailabkaist/so101coffeesubtask3"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>

Overview

Episodes / frames2,140 / 463,261 (4.29 h)
Composition10 steps × 2 cup colours × 107 episodes
Episode lengthmean 216 frames (7.2 s), median 213, range 118–434
Distinct instructions8
Robotsofollower, 6-DoF — `shoulderpan, shoulderlift`, `elbowflex, wristflex`, `wristroll, gripper`
Camerasobservation.images.front, observation.images.wrist — 640×480, av1
fps30
FormatLeRobotDataset v3.0

Episode ranges

The cup colour is not part of the instruction string, so this table is what maps an episode to its step and cup. Each combination occupies one contiguous block of episode_index:

`episode_index`StepCupEpisodesFramesInstruction
0–1061red10722,501pick up the cup on the blue circle
107–2131white10721,529pick up the cup on the blue circle
214–3202red10724,701place the cup to the left coffee machine
321–4272white10723,321place the cup to the left coffee machine
428–5343red10724,190press the blue button of the left coffee machine
535–6413white10722,105press the blue button of the left coffee machine
642–7484red10721,621pick up the cup on the blue circle
749–8554white10720,531pick up the cup on the blue circle
856–9625red10722,549place the cup to the right coffee machine
963–10695white10721,311place the cup to the right coffee machine
1070–11766red10723,208press the blue button of the right coffee machine
1177–12836white10721,729press the blue button of the right coffee machine
1284–13907red10723,765pick up the cup on the left coffee machine
1391–14977white10722,611pick up the cup on the left coffee machine
1498–16048red10726,188place the cup to the left pink circle
1605–17118white10724,125place the cup to the left pink circle
1712–18189red10722,763pick up the cup on the right coffee machine
1819–19259white10721,674pick up the cup on the right coffee machine
1926–203210red10726,188place the cup to the left pink circle
2033–213910white10726,651place the cup to the left pink circle
2,140463,261
python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("aailabkaist/so101_coffee_subtask_3")
step3_white = LeRobotDataset("aailabkaist/so101_coffee_subtask_3", episodes=list(range(535, 642)))

Steps and instructions

Steps 1 and 4 share an instruction, and so do steps 8 and 10: the routine makes two cups, so two of the eight instructions occur at two different points in the sequence. task_index is the index of the instruction, not of the step.

Step`task_index`InstructionEpisodes
10pick up the cup on the blue circle214
21place the cup to the left coffee machine214
32press the blue button of the left coffee machine214
40pick up the cup on the blue circle (same as step 1)214
53place the cup to the right coffee machine214
64press the blue button of the right coffee machine214
75pick up the cup on the left coffee machine214
86place the cup to the left pink circle214
97pick up the cup on the right coffee machine214
106place the cup to the left pink circle (same as step 8)214