Datasets:

nevertmr
/

so101_coffee_subtask

	---
	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 \|

	---
	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 \|