Add merged LeRobot v3.0 dataset (184 episodes) + episode labels + card

README.md

@@ -1,30 +1,121 @@
 ---
 license: apache-2.0
-task_categories: [robotics]
-tags: [lerobot, so101, vla, rollouts, failure-analysis]
+task_categories:
+- robotics
+tags:
+- LeRobot
+- so101
+- vla
+- rollouts
+- failure-analysis
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
 ---
 
-# so101_coffee_rollouts (staging, private)
+# so101_coffee_rollouts
 
-On-policy rollouts of a fine-tuned VLA policy on a 12-step coffee routine (SO-101 arm),
-with per-episode operator outcome labels.
+184 **on-policy rollouts** of a fine-tuned vision-language-action policy on an SO-101 arm, running a coffee-making routine as 10 separately instructed steps — with a **success / fail / unstable label on every episode**.
 
-- Policy: `aailabkaist/pi05_coffee_NorRec_RW_10k`, async execution (chunk_size_threshold 0.7)
-- 15 runs / 200 episodes, 30 fps, front + wrist cameras
-- Outcomes: 149 success / 31 fail / 4 unstable / 16 deleted
+Unlike teleoperated demonstration sets, every trajectory here was produced by the policy itself, so the failures are the policy's own. Recorded over 15 consecutive runs of the routine, with retries kept in place: when a step failed, the operator relabelled it and the arm attempted the same step again, so failures and their subsequent recoveries sit next to each other in the episode order.
 
-## Labels
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
-Labels live in each run's `run_meta.json` event log.
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=nevertmr/so101_coffee_rollouts">
+<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>
 
-- `episode_update` — per-episode label (`success` / `unstable` / `fail`), memo, and `deleted` flag.
-  The last event for an episode is authoritative.
-- `bulk_label` — a summary event meaning "every episode that is unlabeled and not deleted at this
-  timestamp is confirmed success". It carries no episode ids, so it must be replayed in timestamp
-  order (r04: 6 episodes, r05: 1, later individually corrected).
+## Overview
 
-## Layout
+| | |
+|---|---|
+| Episodes / frames | 184 / 38,718 (21.5 min) |
+| Outcomes | 149 success · 31 fail · 4 unstable |
+| Composition | 15 runs × 10 instructed steps, retries included |
+| Policy | `aailabkaist/pi05_coffee_NorRec_RW_10k` (π0.5 fine-tune), async execution, chunk_size_threshold 0.7 |
+| Robot | so101_follower, 6-DoF — `shoulder_pan`, `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_roll`, `gripper` |
+| Cameras | `observation.images.front`, `observation.images.wrist` — 640×480, h264 |
+| fps | 30 |
+| Format | LeRobotDataset v3.0 |
 
-- `runs/coffee_newNN/run_meta.json` — event log and labels
-- `runs/coffee_newNN/lerobot_ds/` — LeRobot v3.0 conversion
-- `raw/coffee_newNN_raw.tar` — per-frame JPEGs and `steps.jsonl` (state, action, timing)
+Episode durations are not meaningful as a quality signal: the operator ended each episode by hand once the step had clearly succeeded or failed.
+
+## Outcome labels
+
+`episode_labels.csv` carries one row per episode, aligned to `episode_index`:
+
+| column | meaning |
+|---|---|
+| `episode_index` | index in this dataset (0–183) |
+| `run` | source run, `coffee_new01` … `coffee_new15` |
+| `source_episode` | episode id inside that run |
+| `cycle` | routine cycle within the run |
+| `step_index` | which of the 10 steps (1–10) |
+| `instruction` | natural-language instruction given to the policy |
+| `outcome` | `success`, `fail`, or `unstable` |
+| `memo` | operator note, when one was written (Korean) |
+
+`unstable` means the step reached its goal but only after visibly erratic behaviour — for example pressing, retreating, then returning to press again.
+
+## Steps
+
+Each run executes the routine below in order. A failed step is retried immediately, so a run contains 11–15 episodes rather than exactly 10.
+
+| step | instruction | episodes | success | fail | unstable | first-attempt success |
+|---|---|---|---|---|---|---|
+| 1 | pick up the cup on the blue circle | 16 | 15 | 1 | 0 | 14/15 |
+| 2 | place the cup to the left coffee machine | 15 | 15 | 0 | 0 | 15/15 |
+| 3 | press the blue button on the left coffee machine | 19 | 13 | 4 | 2 | 10/15 |
+| 4 | pick up the cup on the blue circle | 18 | 15 | 3 | 0 | 13/15 |
+| 5 | place the cup to the right coffee machine | 16 | 15 | 1 | 0 | 14/15 |
+| 6 | press the blue button on the right coffee machine | 33 | 14 | 18 | 1 | 3/15 |
+| 7 | pick up the cup on the left coffee machine | 18 | 17 | 1 | 0 | 14/15 |
+| 8 | place the cup on the left pink circle | 17 | 15 | 2 | 0 | 14/15 |
+| 9 | pick up the cup on the right coffee machine | 16 | 16 | 0 | 0 | 15/15 |
+| 10 | place the cup on the left pink circle | 16 | 14 | 1 | 1 | 13/15 |
+
+Failures concentrate on step 6: it accounts for 18 of the 31 failures, and succeeded on the first attempt in only 3 of 15 runs. Steps 1–10 are the portion of the routine that was actually rolled out; the two closing steps of the full 12-step task are not present.
+
+## Episode ranges
+
+Episodes are ordered run by run, and within a run in the order they were recorded.
+
+| run | episode range | episodes | success | fail | unstable |
+|---|---|---|---|---|---|
+| coffee_new01 | 0–13 | 14 | 10 | 4 | 0 |
+| coffee_new02 | 14–24 | 11 | 10 | 1 | 0 |
+| coffee_new03 | 25–36 | 12 | 10 | 2 | 0 |
+| coffee_new04 | 37–49 | 13 | 10 | 3 | 0 |
+| coffee_new05 | 50–64 | 15 | 11 | 3 | 1 |
+| coffee_new06 | 65–77 | 13 | 10 | 3 | 0 |
+| coffee_new07 | 78–88 | 11 | 10 | 1 | 0 |
+| coffee_new08 | 89–101 | 13 | 10 | 3 | 0 |
+| coffee_new09 | 102–112 | 11 | 10 | 1 | 0 |
+| coffee_new10 | 113–124 | 12 | 9 | 2 | 1 |
+| coffee_new11 | 125–135 | 11 | 9 | 1 | 1 |
+| coffee_new12 | 136–149 | 14 | 11 | 3 | 0 |
+| coffee_new13 | 150–161 | 12 | 10 | 2 | 0 |
+| coffee_new14 | 162–172 | 11 | 10 | 1 | 0 |
+| coffee_new15 | 173–183 | 11 | 9 | 1 | 1 |
+
+16 further episodes were discarded at recording time (aborted or mis-triggered) and are not included.
+
+## Repository contents
+
+| path | what it holds |
+|---|---|
+| `data/`, `videos/`, `meta/` | the merged LeRobot v3.0 dataset described above |
+| `episode_labels.csv` | per-episode outcome labels |
+| `runs/coffee_newNN/` | the same episodes kept split by run, plus each run's raw event log (`run_meta.json`) |
+| `raw/coffee_newNN_raw.tar` | per-frame JPEGs and `steps.jsonl` (state, action, timing) as recorded, including the 16 discarded episodes |
+
+## Uses
+
+- Failure detection and success classification from video, with per-episode ground truth
+- Preference or filtered-imitation learning: failure → retry-success pairs within a run share the same scene and instruction
+- Studying where a fine-tuned VLA breaks down on a long-horizon routine
+
+## Companion repository
+
+[`nevertmr/so101_coffee_subtask`](https://huggingface.co/datasets/nevertmr/so101_coffee_subtask) holds 431 human teleoperated demonstrations of the same routine — useful as the demonstration counterpart to these on-policy rollouts.

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:354d55c9e365192b595e944cbd049331228946306fcac05f1b3c454e95d4f70a
+size 2808271

episode_labels.csv

@@ -0,0 +1,185 @@
+episode_index,run,source_episode,cycle,step_index,instruction,outcome,memo
+0,coffee_new01,0,1,1,pick up the cup on the blue circle,success,
+1,coffee_new01,1,1,2,place the cup to the left coffee machine,success,
+2,coffee_new01,2,1,3,press the blue button on the left coffee machine,fail,
+3,coffee_new01,3,1,3,press the blue button on the left coffee machine,fail,
+4,coffee_new01,4,1,3,press the blue button on the left coffee machine,success,
+5,coffee_new01,5,1,4,pick up the cup on the blue circle,success,
+6,coffee_new01,6,1,5,place the cup to the right coffee machine,success,
+7,coffee_new01,7,1,6,press the blue button on the right coffee machine,fail,
+8,coffee_new01,8,1,6,press the blue button on the right coffee machine,fail,
+9,coffee_new01,9,1,6,press the blue button on the right coffee machine,success,
+10,coffee_new01,10,1,7,pick up the cup on the left coffee machine,success,
+11,coffee_new01,11,1,8,place the cup on the left pink circle,success,
+12,coffee_new01,12,1,9,pick up the cup on the right coffee machine,success,
+13,coffee_new01,13,1,10,place the cup on the left pink circle,success,
+14,coffee_new02,0,1,1,pick up the cup on the blue circle,success,
+15,coffee_new02,1,1,2,place the cup to the left coffee machine,success,
+16,coffee_new02,2,1,3,press the blue button on the left coffee machine,success,
+17,coffee_new02,3,1,4,pick up the cup on the blue circle,success,
+18,coffee_new02,4,1,5,place the cup to the right coffee machine,fail,
+19,coffee_new02,5,1,5,place the cup to the right coffee machine,success,
+20,coffee_new02,6,1,6,press the blue button on the right coffee machine,success,
+21,coffee_new02,7,1,7,pick up the cup on the left coffee machine,success,
+22,coffee_new02,8,1,8,place the cup on the left pink circle,success,
+23,coffee_new02,9,1,9,pick up the cup on the right coffee machine,success,
+24,coffee_new02,10,1,10,place the cup on the left pink circle,success,
+25,coffee_new03,0,1,1,pick up the cup on the blue circle,success,
+26,coffee_new03,1,1,2,place the cup to the left coffee machine,success,
+27,coffee_new03,2,1,3,press the blue button on the left coffee machine,success,
+28,coffee_new03,3,1,4,pick up the cup on the blue circle,fail,컵 굴러 떨어트림
+29,coffee_new03,4,1,4,pick up the cup on the blue circle,fail,컵 넘어짐
+30,coffee_new03,5,1,4,pick up the cup on the blue circle,success,
+31,coffee_new03,6,1,5,place the cup to the right coffee machine,success,
+32,coffee_new03,7,1,6,press the blue button on the right coffee machine,success,
+33,coffee_new03,8,1,7,pick up the cup on the left coffee machine,success,
+34,coffee_new03,9,1,8,place the cup on the left pink circle,success,
+35,coffee_new03,10,1,9,pick up the cup on the right coffee machine,success,
+36,coffee_new03,11,1,10,place the cup on the left pink circle,success,
+37,coffee_new04,0,1,1,pick up the cup on the blue circle,success,
+38,coffee_new04,1,1,2,place the cup to the left coffee machine,success,
+39,coffee_new04,2,1,3,press the blue button on the left coffee machine,success,
+40,coffee_new04,4,1,4,pick up the cup on the blue circle,success,
+41,coffee_new04,5,1,5,place the cup to the right coffee machine,success,
+42,coffee_new04,6,1,6,press the blue button on the right coffee machine,fail,
+43,coffee_new04,7,1,6,press the blue button on the right coffee machine,fail,
+44,coffee_new04,8,1,6,press the blue button on the right coffee machine,fail,
+45,coffee_new04,9,1,6,press the blue button on the right coffee machine,success,
+46,coffee_new04,15,1,7,pick up the cup on the left coffee machine,success,
+47,coffee_new04,16,1,8,place the cup on the left pink circle,success,
+48,coffee_new04,17,1,9,pick up the cup on the right coffee machine,success,
+49,coffee_new04,18,1,10,place the cup on the left pink circle,success,
+50,coffee_new05,0,1,1,pick up the cup on the blue circle,success,
+51,coffee_new05,1,1,2,place the cup to the left coffee machine,success,
+52,coffee_new05,2,1,3,press the blue button on the left coffee machine,unstable,많이 왔다갔다함
+53,coffee_new05,4,1,4,pick up the cup on the blue circle,success,
+54,coffee_new05,5,1,5,place the cup to the right coffee machine,success,
+55,coffee_new05,6,1,6,press the blue button on the right coffee machine,fail,
+56,coffee_new05,9,1,6,press the blue button on the right coffee machine,success,
+57,coffee_new05,10,1,7,pick up the cup on the left coffee machine,success,
+58,coffee_new05,11,1,8,place the cup on the left pink circle,fail,마지막에 놓고 넘어뜨림
+59,coffee_new05,13,1,7,pick up the cup on the left coffee machine,success,
+60,coffee_new05,14,1,8,place the cup on the left pink circle,fail,돌아오면서 넘어뜨림
+61,coffee_new05,15,1,7,pick up the cup on the left coffee machine,success,
+62,coffee_new05,16,1,8,place the cup on the left pink circle,success,
+63,coffee_new05,17,1,9,pick up the cup on the right coffee machine,success,
+64,coffee_new05,18,1,10,place the cup on the left pink circle,success,
+65,coffee_new06,0,1,1,pick up the cup on the blue circle,fail,넘어뜨림
+66,coffee_new06,1,1,1,pick up the cup on the blue circle,success,
+67,coffee_new06,2,1,2,place the cup to the left coffee machine,success,
+68,coffee_new06,3,1,3,press the blue button on the left coffee machine,success,
+69,coffee_new06,4,1,4,pick up the cup on the blue circle,success,
+70,coffee_new06,5,1,5,place the cup to the right coffee machine,success,
+71,coffee_new06,6,1,6,press the blue button on the right coffee machine,fail,
+72,coffee_new06,8,1,6,press the blue button on the right coffee machine,success,
+73,coffee_new06,9,1,7,pick up the cup on the left coffee machine,fail,
+74,coffee_new06,11,1,7,pick up the cup on the left coffee machine,success,
+75,coffee_new06,12,1,8,place the cup on the left pink circle,success,
+76,coffee_new06,13,1,9,pick up the cup on the right coffee machine,success,
+77,coffee_new06,14,1,10,place the cup on the left pink circle,success,
+78,coffee_new07,0,1,1,pick up the cup on the blue circle,success,
+79,coffee_new07,1,1,2,place the cup to the left coffee machine,success,
+80,coffee_new07,2,1,3,press the blue button on the left coffee machine,success,
+81,coffee_new07,4,1,4,pick up the cup on the blue circle,success,
+82,coffee_new07,5,1,5,place the cup to the right coffee machine,success,
+83,coffee_new07,6,1,6,press the blue button on the right coffee machine,fail,안누르고 홈으로 감
+84,coffee_new07,7,1,6,press the blue button on the right coffee machine,success,
+85,coffee_new07,8,1,7,pick up the cup on the left coffee machine,success,
+86,coffee_new07,9,1,8,place the cup on the left pink circle,success,
+87,coffee_new07,10,1,9,pick up the cup on the right coffee machine,success,
+88,coffee_new07,11,1,10,place the cup on the left pink circle,success,
+89,coffee_new08,0,1,1,pick up the cup on the blue circle,success,
+90,coffee_new08,1,1,2,place the cup to the left coffee machine,success,
+91,coffee_new08,2,1,3,press the blue button on the left coffee machine,fail,이상한 곳 누르고 홈 복귀
+92,coffee_new08,3,1,3,press the blue button on the left coffee machine,success,
+93,coffee_new08,4,1,4,pick up the cup on the blue circle,fail,컵 넘어뜨림
+94,coffee_new08,5,1,4,pick up the cup on the blue circle,success,
+95,coffee_new08,6,1,5,place the cup to the right coffee machine,success,
+96,coffee_new08,7,1,6,press the blue button on the right coffee machine,fail,누르는 곳 이동 안하고 홈 복귀
+97,coffee_new08,8,1,6,press the blue button on the right coffee machine,success,
+98,coffee_new08,9,1,7,pick up the cup on the left coffee machine,success,
+99,coffee_new08,10,1,8,place the cup on the left pink circle,success,
+100,coffee_new08,11,1,9,pick up the cup on the right coffee machine,success,
+101,coffee_new08,12,1,10,place the cup on the left pink circle,success,
+102,coffee_new09,0,1,1,pick up the cup on the blue circle,success,
+103,coffee_new09,1,1,2,place the cup to the left coffee machine,success,
+104,coffee_new09,2,1,3,press the blue button on the left coffee machine,success,
+105,coffee_new09,3,1,4,pick up the cup on the blue circle,success,
+106,coffee_new09,4,1,5,place the cup to the right coffee machine,success,
+107,coffee_new09,5,1,6,press the blue button on the right coffee machine,fail,시도없이 홈으로 돌아옴
+108,coffee_new09,6,1,6,press the blue button on the right coffee machine,success,
+109,coffee_new09,7,1,7,pick up the cup on the left coffee machine,success,
+110,coffee_new09,8,1,8,place the cup on the left pink circle,success,
+111,coffee_new09,9,1,9,pick up the cup on the right coffee machine,success,
+112,coffee_new09,10,1,10,place the cup on the left pink circle,success,
+113,coffee_new10,0,1,1,pick up the cup on the blue circle,success,
+114,coffee_new10,1,1,2,place the cup to the left coffee machine,success,
+115,coffee_new10,2,1,3,press the blue button on the left coffee machine,success,
+116,coffee_new10,3,1,4,pick up the cup on the blue circle,success,
+117,coffee_new10,4,1,5,place the cup to the right coffee machine,success,
+118,coffee_new10,5,1,6,press the blue button on the right coffee machine,fail,버튼 누르는 시도 안함
+119,coffee_new10,6,1,6,press the blue button on the right coffee machine,fail,버튼 누르는 시도 안함
+120,coffee_new10,7,1,6,press the blue button on the right coffee machine,success,
+121,coffee_new10,8,1,7,pick up the cup on the left coffee machine,success,
+122,coffee_new10,9,1,8,place the cup on the left pink circle,success,
+123,coffee_new10,10,1,9,pick up the cup on the right coffee machine,success,
+124,coffee_new10,11,1,10,place the cup on the left pink circle,unstable,마지막에 건들여서 흔들 함 
+125,coffee_new11,0,1,1,pick up the cup on the blue circle,success,
+126,coffee_new11,1,1,2,place the cup to the left coffee machine,success,
+127,coffee_new11,2,1,3,press the blue button on the left coffee machine,unstable,아래쪽 두번 눌러서 실패 후 눌러서 성공
+128,coffee_new11,3,1,4,pick up the cup on the blue circle,success,
+129,coffee_new11,4,1,5,place the cup to the right coffee machine,success,
+130,coffee_new11,5,1,6,press the blue button on the right coffee machine,fail,누르는 시도 안함
+131,coffee_new11,6,1,6,press the blue button on the right coffee machine,success,
+132,coffee_new11,7,1,7,pick up the cup on the left coffee machine,success,
+133,coffee_new11,8,1,8,place the cup on the left pink circle,success,
+134,coffee_new11,9,1,9,pick up the cup on the right coffee machine,success,
+135,coffee_new11,10,1,10,place the cup on the left pink circle,success,
+136,coffee_new12,0,1,1,pick up the cup on the blue circle,success,
+137,coffee_new12,1,1,2,place the cup to the left coffee machine,success,
+138,coffee_new12,2,1,3,press the blue button on the left coffee machine,success,
+139,coffee_new12,4,1,4,pick up the cup on the blue circle,success,
+140,coffee_new12,5,1,5,place the cup to the right coffee machine,success,
+141,coffee_new12,6,1,6,press the blue button on the right coffee machine,fail,누르려는 시도 안함
+142,coffee_new12,7,1,6,press the blue button on the right coffee machine,fail,누르려는 시도 안함
+143,coffee_new12,8,1,6,press the blue button on the right coffee machine,success,
+144,coffee_new12,9,1,7,pick up the cup on the left coffee machine,success,
+145,coffee_new12,10,1,8,place the cup on the left pink circle,success,
+146,coffee_new12,11,1,9,pick up the cup on the right coffee machine,success,
+147,coffee_new12,12,1,10,place the cup on the left pink circle,fail,돌아오는길에 넘어뜨림
+148,coffee_new12,13,1,9,pick up the cup on the right coffee machine,success,
+149,coffee_new12,14,1,10,place the cup on the left pink circle,success,
+150,coffee_new13,0,1,1,pick up the cup on the blue circle,success,
+151,coffee_new13,1,1,2,place the cup to the left coffee machine,success,
+152,coffee_new13,2,1,3,press the blue button on the left coffee machine,success,
+153,coffee_new13,3,1,4,pick up the cup on the blue circle,success,
+154,coffee_new13,4,1,5,place the cup to the right coffee machine,success,
+155,coffee_new13,5,1,6,press the blue button on the right coffee machine,fail,누르려는 시도 안함
+156,coffee_new13,6,1,6,press the blue button on the right coffee machine,fail,누르려는 시도 안함
+157,coffee_new13,7,1,6,press the blue button on the right coffee machine,success,
+158,coffee_new13,8,1,7,pick up the cup on the left coffee machine,success,
+159,coffee_new13,9,1,8,place the cup on the left pink circle,success,
+160,coffee_new13,10,1,9,pick up the cup on the right coffee machine,success,
+161,coffee_new13,11,1,10,place the cup on the left pink circle,success,
+162,coffee_new14,0,1,1,pick up the cup on the blue circle,success,
+163,coffee_new14,1,1,2,place the cup to the left coffee machine,success,
+164,coffee_new14,2,1,3,press the blue button on the left coffee machine,fail,누르러 가는길에 컵 넘어뜨림
+165,coffee_new14,3,1,3,press the blue button on the left coffee machine,success,
+166,coffee_new14,4,1,4,pick up the cup on the blue circle,success,
+167,coffee_new14,5,1,5,place the cup to the right coffee machine,success,
+168,coffee_new14,8,1,6,press the blue button on the right coffee machine,success,
+169,coffee_new14,9,1,7,pick up the cup on the left coffee machine,success,
+170,coffee_new14,10,1,8,place the cup on the left pink circle,success,
+171,coffee_new14,11,1,9,pick up the cup on the right coffee machine,success,
+172,coffee_new14,12,1,10,place the cup on the left pink circle,success,
+173,coffee_new15,0,1,1,pick up the cup on the blue circle,success,
+174,coffee_new15,1,1,2,place the cup to the left coffee machine,success,
+175,coffee_new15,2,1,3,press the blue button on the left coffee machine,success,
+176,coffee_new15,3,1,4,pick up the cup on the blue circle,success,
+177,coffee_new15,4,1,5,place the cup to the right coffee machine,success,
+178,coffee_new15,5,1,6,press the blue button on the right coffee machine,fail,안누르고 복귀함
+179,coffee_new15,6,1,6,press the blue button on the right coffee machine,unstable,뒤로 누르면서 돌아오다 다시 가서 누름
+180,coffee_new15,7,1,7,pick up the cup on the left coffee machine,success,
+181,coffee_new15,8,1,8,place the cup on the left pink circle,success,
+182,coffee_new15,9,1,9,pick up the cup on the right coffee machine,success,
+183,coffee_new15,10,1,10,place the cup on the left pink circle,success,

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