Datasets:

aailabkaist
/

so101_coffee_subtask_3

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so101
  - robotics
configs:
  - config_name: default
    data_files: data/*/*.parquet

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 216 frames (7.2 s), median 213, range 118–434
Distinct instructions	8
Robot	so_follower, 6-DoF — `shoulder_pan`, `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_roll`, `gripper`
Cameras	`observation.images.front`, `observation.images.wrist` — 640×480, av1
fps	30
Format	LeRobotDataset 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`	Step	Cup	Episodes	Frames	Instruction
0–106	1	red	107	22,501	`pick up the cup on the blue circle`
107–213	1	white	107	21,529	`pick up the cup on the blue circle`
214–320	2	red	107	24,701	`place the cup to the left coffee machine`
321–427	2	white	107	23,321	`place the cup to the left coffee machine`
428–534	3	red	107	24,190	`press the blue button of the left coffee machine`
535–641	3	white	107	22,105	`press the blue button of the left coffee machine`
642–748	4	red	107	21,621	`pick up the cup on the blue circle`
749–855	4	white	107	20,531	`pick up the cup on the blue circle`
856–962	5	red	107	22,549	`place the cup to the right coffee machine`
963–1069	5	white	107	21,311	`place the cup to the right coffee machine`
1070–1176	6	red	107	23,208	`press the blue button of the right coffee machine`
1177–1283	6	white	107	21,729	`press the blue button of the right coffee machine`
1284–1390	7	red	107	23,765	`pick up the cup on the left coffee machine`
1391–1497	7	white	107	22,611	`pick up the cup on the left coffee machine`
1498–1604	8	red	107	26,188	`place the cup to the left pink circle`
1605–1711	8	white	107	24,125	`place the cup to the left pink circle`
1712–1818	9	red	107	22,763	`pick up the cup on the right coffee machine`
1819–1925	9	white	107	21,674	`pick up the cup on the right coffee machine`
1926–2032	10	red	107	26,188	`place the cup to the left pink circle`
2033–2139	10	white	107	26,651	`place the cup to the left pink circle`
			2,140	463,261

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`	Instruction	Episodes
1	0	`pick up the cup on the blue circle`	214
2	1	`place the cup to the left coffee machine`	214
3	2	`press the blue button of the left coffee machine`	214
4	0	`pick up the cup on the blue circle` (same as step 1)	214
5	3	`place the cup to the right coffee machine`	214
6	4	`press the blue button of the right coffee machine`	214
7	5	`pick up the cup on the left coffee machine`	214
8	6	`place the cup to the left pink circle`	214
9	7	`pick up the cup on the right coffee machine`	214
10	6	`place the cup to the left pink circle` (same as step 8)	214