so101_cup_bluecircle_1task_var — 20 varied-placement companion episodes

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

Front camera (fixed, elevated view), 8× speed.

Companion set to nevertmr/so101_cup_bluecircle_1task (50 episodes): 20 additional teleoperated demonstrations with more varied start layouts — the cup starts farther out, and unlike the main set, the blue circle (the target) is also moved between episodes. Same task, same scene, same recording protocol.

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

See the main dataset card for the recording protocol and scene description — the protocol applies here unchanged, the scene geometry does not (see below).

What varies here (vs the main set)

• Cup start positions are spread much wider than the main set's close range.
• The blue circle moves too. In 10 of the 20 episodes the circle sits away from its usual taped anchor position; in episode 12 it is placed far to the left, near the first coffee machine. In the main set the circle never moves — so don't assume a fixed goal position in pixel space when using this set.

Start layouts

All 20 start layouts, extracted from a 4K top-view recording of the session (one frame at the start of each episode). Red dot = cup start, blue dot = circle position, gray lines pair the two for the same episode:

Per-episode start frames, numbered 0–19:

This dataset was created using LeRobot.

Quick facts

Episodes / frames	20 / 6,884 @ 30 fps
Episode length	10.1 – 17.1 s (avg 11.5 s)
Cameras	front (fixed, elevated view), wrist — both 640×480
Recorded with	official LeRobot v0.4.4 CLI, Apple Silicon MacBook
Format	LeRobotDataset v3.0

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("nevertmr/so101_cup_bluecircle_1task_var")