Datasets:

nevertmr
/

so101_cup_bluecircle_1task

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

	# so101_cup_bluecircle_1task — SO-101 cup repositioning, 50 episodes

	▶ Full collection video (YouTube): https://youtu.be/s7c5Ls-Nkd0

	![front camera, 8x speed](preview_topview.gif)

	Front camera (fixed, elevated view), 8× speed — first 9 episodes, each starting the cup at a different position.

	50 teleoperated demonstrations on the SO-101 arm for the task:

	> "pick up the cup near the blue circle and place the cup to the blue circle"

	This dataset is part of a larger coffee-making robot project. The task is the cup-repositioning primitive, recorded in the project's actual workspace — the coffee machines stay in frame on purpose: this is the scene the policy is meant to run in.

	A companion set with 20 additional, more varied placements: [nevertmr/so101_cup_bluecircle_1task_var](https://huggingface.co/datasets/nevertmr/so101_cup_bluecircle_1task_var)

	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_cup_bluecircle_1task">
	<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>

	## Quick facts

	\| \| \|
	\|---\|---\|
	\| Episodes / frames \| 50 / 19,138 @ 30 fps \|
	\| Episode length \| 10.2 – 16.6 s (avg 12.8 s) \|
	\| Cameras \| `front` (fixed, elevated front view of the workspace), `wrist` (gripper-mounted) — both 640×480 \|
	\| Robot \| SO-101 follower, teleoperated with an SO-101 leader arm \|
	\| Recorded with \| official LeRobot v0.4.4 CLI, on an Apple Silicon MacBook — no external compute \|
	\| Format \| LeRobotDataset v3.0 \|

	## Scene geometry

	- Two fixed cameras — positions never changed during collection, so pixel coordinates are consistent across all episodes.
	- The blue circle is fixed to the table. The cup is the only object that moves between episodes. (In the `_var` companion set the circle also moves — see its card.)
	- Background coffee machines are the deployment context of the parent project — kept exactly as-is in every frame.

	## Placement design

	- The cup starts at a different position in every episode, spread across roughly eight directions around the circle at varied close-range distances. The goal is directional diversity, not a strict grid.
	- Far placements are deliberately excluded — that range is held out as a controlled out-of-distribution condition for downstream experiments (e.g., failure detection). If you train on this data, expect degradation once the cup starts well outside the collected range. That's by design.

	### Placement coverage

	All 50 cup start positions, extracted from a 4K top-view recording of the session (one frame at the start of each episode) and plotted on the shared background:

	![all 50 cup start positions](placement_map.png)

	Per-episode start frames, numbered 0–49:

	![per-episode start frames](placement_grid.png)

	## Recording protocol (identical in every episode)

	1. Fixed home pose, gripper open.
	2. One second of stillness at the start — frame 0 gives a clean view of the cup's start position, so displacement can be auto-labeled. (Measured: max joint std in the first second ≤ 0.15°.)
	3. Approach → single grasp at mid-height, no regrasping → lift → transfer.
	4. Release only after the cup is in full contact with the table inside the circle → retreat up and back.
	5. One second of stillness at the end — the final still second is ground truth for the success state.

	Fumbled or regrasped episodes were re-recorded on the spot, never patched afterwards.

	## Usage

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

	ds = LeRobotDataset("nevertmr/so101_cup_bluecircle_1task")
	print(ds.num_episodes, ds.num_frames)
	```

	## Versioning

	v1 — initial release (July 2026). 50 episodes, close-range placements only.
	Future re-collections (wider placements, more episodes, protocol changes) will be released as new versioned repos rather than overwriting this one.

	## Limitations

	- Single operator, single session — lighting constant throughout.
	- One task instruction on every frame, character-for-character identical.
	- Joint values are calibrated degrees (per-device calibration), not raw motor ticks.