README.md

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

# so101_coffee_subtask

431 teleoperated SO-101 demonstrations of a coffee-making routine, recorded as **12 separately instructed steps**, each captured with two cup variants — a **red** cup and a **white** one.

Every step is a short, self-contained manipulation with its own natural-language instruction, so the set can be used either as 24 single-skill datasets or as one long-horizon routine.

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=nevertmr/so101_coffee_subtask">
<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 | 431 / 99,472 (0.92 h) |
| Composition | 12 steps × 2 cup colours = 24 contiguous blocks |
| Episode length | mean 231 frames (7.7 s), median 223, range 135–434 |
| Distinct instructions | 10 |
| 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 |

## Trajectories

End-effector (pinch-point) paths of every episode, obtained by forward kinematics from the recorded joint states. Top panel is a top-down X–Y view with the table, the two coffee machines and the two circular markers drawn in; bottom panel is the side X–Z view. The robot base is at the origin (▲). Red lines are red-cup episodes, blue lines white-cup ones.

Three steps to a row — the full 12-step routine in order:

**Steps 1–3** — `pick up the cup on the blue circle` → `place the cup to the left coffee machine` → `press the blue button of the left coffee machine`

![steps 1-3](https://huggingface.co/datasets/nevertmr/so101_coffee_subtask/resolve/main/viz/steps_1-3_row.png)

**Steps 4–6** — `pick up the cup on the blue circle` → `place the cup to the right coffee machine` → `press the blue button of the right coffee machine`

![steps 4-6](https://huggingface.co/datasets/nevertmr/so101_coffee_subtask/resolve/main/viz/steps_4-6_row.png)

**Steps 7–9** — `pick up the cup on the left coffee machine` → `place the cup to the left pink circle` → `pick up the cup on the right coffee machine`

![steps 7-9](https://huggingface.co/datasets/nevertmr/so101_coffee_subtask/resolve/main/viz/steps_7-9_row.png)

**Steps 10–12** — `place the cup to the left pink circle` → `pick up the cup near the blue circle` → `place the cup on the blue circle`

![steps 10-12](https://huggingface.co/datasets/nevertmr/so101_coffee_subtask/resolve/main/viz/steps_10-12_row.png)

All four 3-step rows are in [`viz/`](https://huggingface.co/datasets/nevertmr/so101_coffee_subtask/tree/main/viz).

## Trajectory video

[![12-step trajectory video, 4 views (4K)](https://img.youtube.com/vi/ey8GLF_dZ2I/sddefault.jpg)](https://youtu.be/ey8GLF_dZ2I)

▶ Watch on YouTube (4K): https://youtu.be/ey8GLF_dZ2I

## 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. Every combination is one contiguous block of `episode_index`:

| `episode_index` | Step | Cup | Episodes | Frames | Instruction |
|---|---:|---|---:|---:|---|
| **0–19** | 1 | red | 20 | 6,058 | `pick up the cup on the blue circle` |
| **20–39** | 1 | white | 20 | 5,204 | `pick up the cup on the blue circle` |
| **40–59** | 2 | red | 20 | 5,652 | `place the cup to the left coffee machine` |
| **60–79** | 2 | white | 20 | 4,883 | `place the cup to the left coffee machine` |
| **80–99** | 3 | red | 20 | 5,231 | `press the blue button of the left coffee machine` |
| **100–119** | 3 | white | 20 | 4,838 | `press the blue button of the left coffee machine` |
| **120–139** | 4 | red | 20 | 4,323 | `pick up the cup on the blue circle` |
| **140–159** | 4 | white | 20 | 4,093 | `pick up the cup on the blue circle` |
| **160–175** | 5 | red | 16 | 2,886 | `place the cup to the right coffee machine` |
| **176–192** | 5 | white | 17 | 3,461 | `place the cup to the right coffee machine` |
| **193–209** | 6 | red | 17 | 3,859 | `press the blue button of the right coffee machine` |
| **210–226** | 6 | white | 17 | 3,989 | `press the blue button of the right coffee machine` |
| **227–243** | 7 | red | 17 | 4,020 | `pick up the cup on the left coffee machine` |
| **244–260** | 7 | white | 17 | 3,638 | `pick up the cup on the left coffee machine` |
| **261–277** | 8 | red | 17 | 4,171 | `place the cup to the left pink circle` |
| **278–294** | 8 | white | 17 | 4,133 | `place the cup to the left pink circle` |
| **295–311** | 9 | red | 17 | 4,022 | `pick up the cup on the right coffee machine` |
| **312–328** | 9 | white | 17 | 3,490 | `pick up the cup on the right coffee machine` |
| **329–345** | 10 | red | 17 | 3,920 | `place the cup to the left pink circle` |
| **346–363** | 10 | white | 18 | 3,999 | `place the cup to the left pink circle` |
| **364–380** | 11 | red | 17 | 3,488 | `pick up the cup near the blue circle` |
| **381–397** | 11 | white | 17 | 3,576 | `pick up the cup near the blue circle` |
| **398–413** | 12 | red | 16 | 3,058 | `place the cup on the blue circle` |
| **414–430** | 12 | white | 17 | 3,480 | `place the cup on the blue circle` |
| | | | **431** | **99,472** | |

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds       = LeRobotDataset("nevertmr/so101_coffee_subtask")
step3_red = LeRobotDataset("nevertmr/so101_coffee_subtask", episodes=list(range(80, 100)))
```

## Steps and instructions

Steps 1 and 4 / 8 and 10 reuse an instruction: the routine makes two cups, so two of the instructions occur at two different points in the sequence. `task_index` is the index of the instruction, not of the step — there are 12 steps but 10 distinct instructions.

| Step | `task_index` | Instruction | Episodes | Frames |
|---:|---:|---|---:|---:|
| 1 | 0 | `pick up the cup on the blue circle` | 40 | 11,262 |
| 2 | 1 | `place the cup to the left coffee machine` | 40 | 10,535 |
| 3 | 2 | `press the blue button of the left coffee machine` | 40 | 10,069 |
| 4 | 0 | `pick up the cup on the blue circle` *(same as step 1)* | 40 | 8,416 |
| 5 | 3 | `place the cup to the right coffee machine` | 33 | 6,347 |
| 6 | 4 | `press the blue button of the right coffee machine` | 34 | 7,848 |
| 7 | 5 | `pick up the cup on the left coffee machine` | 34 | 7,658 |
| 8 | 6 | `place the cup to the left pink circle` | 34 | 8,304 |
| 9 | 7 | `pick up the cup on the right coffee machine` | 34 | 7,512 |
| 10 | 6 | `place the cup to the left pink circle` *(same as step 8)* | 35 | 7,919 |
| 11 | 8 | `pick up the cup near the blue circle` | 34 | 7,064 |
| 12 | 9 | `place the cup on the blue circle` | 33 | 6,538 |