Cache-SCA/SO101-ma_distribute_chocolate_pie_each_plate_10fps

SO101 - Distribute Chocolate Pie to Each Plate (10 FPS)

LeRobot v3.0 dataset derived from CoRL2026-CSI/SO101-ma_distribute_chocolate_pie_each_plate_30fps by keeping every third source frame (frame_index % 3 == 0) and rebuilding each episode's frame_index, timestamp, and global index for 10 FPS playback.

Task

place each chocolate pie on a plate

The robot distributes two chocolate pie objects onto two plates, one pie per plate.

Dataset Summary

Field	Value
Episodes	100
Frames	52,285
FPS	10
Source FPS	30
Robot	so101_follower
Format	LeRobot v3.0
Source dataset	CoRL2026-CSI/SO101-ma_distribute_chocolate_pie_each_plate_30fps

Cameras

Key	Shape	Codec	Description
observation.images.realsense_topview	480 x 640 x 3	h264	Top-view RGB camera
observation.images.wrist	480 x 640 x 3	h264	Wrist-mounted RGB camera

Features

Key	Type	Description
observation.state	float32[6]	Motor positions: 5 arm joints + gripper
action	float32[6]	Commanded joint positions
observation.images.realsense_topview	video	Top-view RGB frames
observation.images.wrist	video	Wrist-mounted RGB frames
observation.ee_pos.robot_xyzrpy	float32[6]	End-effector pose in robot base frame
observation.gripper_binary	float32	Binary gripper state
skill.verification_question	string	Present in schema; empty for this derivative
skill.type	string	Skill primitive label such as move, move_initial, move_free, gripper_open, gripper_close
skill.progress	float32	Within-skill normalized progress in [0, 1]
skill.goal_position.joint	float32[6]	Per-skill goal joint configuration
skill.goal_position.robot_xyzrpy	float32[6]	Per-skill goal EE pose
skill.goal_position.gripper	float32	Per-skill goal gripper state
timestamp	float32	Episode-local timestamp at 10 FPS
frame_index	int64	Episode-local frame index
episode_index	int64	Episode index
index	int64	Global row index
task_index	int64	Task table index

Schema Notes

This derivative does not include the natural-language skill text field or any subtask metadata fields. The source 30 FPS dataset also lacks those optional text/subtask fields. The sidecar file meta/scrape_episode_metadata.jsonl is not present.

Verification

The local derivative was checked with the SCRAPE dataset audit:

• 100 episodes and 52,285 data rows
• video packet counts match meta/info.json total frames for both cameras
• per-episode video segment lengths match meta/episodes
• frame indices are contiguous per episode
• timestamps start at 0 and advance by 0.1 seconds
• sampled non-video columns match the 30 FPS source rows selected by frame_index % 3 == 0

Quick Start

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("CoRL2026-CSI/SO101-ma_distribute_chocolate_pie_each_plate_10fps")
sample = dataset[0]
print(sample.keys())

Citation

If you use this dataset, please cite the source collection:

@misc{so101_pie_distribute_2026,
  title  = {SO101 Distribute Chocolate Pies: A LeRobot Closed-Loop Demonstration Dataset},
  author = {Cho, Hyeonseok and contributors},
  year   = {2026},
  url    = {https://huggingface.co/datasets/CoRL2026-CSI/SO101-ma_distribute_chocolate_pie_each_plate_30fps}
}