---
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](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=aailabkaist/so101_coffee_subtask_3">
<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 / 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** | |

```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` | 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 |