SO-101 ICL pairs (368)
Processed robot data with corrected instructions
The processed seed42 dataset contains 350 training episodes and 18 validation episodes in LeRobot v2.1 format. Its 22 English instructions specify cube colors, the left or right cup, and placement order. The original train/validation membership is preserved.
Use the files under so101_hippovla_splits_seed42/ for the updated task labels. See its README for download instructions and the rel16 action convention. The source data below retains the original two generic instructions.
Original paired source data
Each line of pairs.jsonl is one successful teleop episode paired with one human video. The paths are relative to the
dataset root, and the layout is the same as Zero-WAM/data/SO101/raw:
| robot_index | instruction | robot episodes | human video |
|---|---|---|---|
| 1–240 | Put the cube into the cup. |
2026-09-22/23 teleop | #1–80 real (data/<human episode>/external.mp4), #81–240 MiniMax-H3 (outputs/h3_batch200_20260924/.../review.mp4) |
| 241–368 | Put three cubes into the cup. |
2026-09-24 teleop | all MiniMax-H3 (outputs/h3_task2_batch128_20260928/.../review.mp4) |
- The first 240 rows are
datasets/so101_icl/pairs.jsonlunchanged, plus aninstructionfield. - For rows 241–368,
taskis<order of the three colours>_<cup>. The rows come fromoutputs/h3_task2_batch128_20260928/manifest.json: 16 orders × 4 layouts × 2 samples. Each robot episode appears once. - Nobody has reviewed the content of the 128 H3 videos (
human_review: null). They were checked only for decodability and SHA256. - The
instructioncomes from each episode'sframes.jsonl.Zero-WAM/script/prepare_so101.pyasserts a single language across all pairs, so it rejects the combined set as written.
Remote copy: H100-2:/mnt/data/QingLan/datasets/so101_icl_368/. The files it shares with the old upload are
hardlinks to Zero-WAM/data/SO101/raw.