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

# so101_cup_bluecircle_2task — SO-101 cup repositioning as two tasks, 113 episodes

![placement coverage](placement_coverage.png)

*Cup start positions for the 61 pick episodes (left) and start → placed transport for the 52
place episodes (right).*

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

*Front camera (fixed, elevated view), 8× speed — six pick episodes followed by four place episodes.*

113 teleoperated demonstrations on the SO-101 arm, recorded as **two separately instructed tasks**
rather than one continuous motion:

> **"pick up the cup near the blue circle"** — 61 episodes
>
> **"place the cup on the blue circle"** — 52 episodes

This dataset is part of a larger coffee-making robot project. Splitting the cup-repositioning
primitive into two instructions is what lets a policy be commanded mid-sequence — pick alone, place
alone, or the two chained — instead of only replaying the whole motion.

The single-instruction counterpart, where one string covers pick *and* place:
[nevertmr/so101_cup_bluecircle_1task](https://huggingface.co/datasets/nevertmr/so101_cup_bluecircle_1task)

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_2task">
<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 | 113 / 27,551 @ 30 fps |
| — pick | 61 / 16,829 · 5.7 – 15.6 s (avg 9.2 s) |
| — place | 52 / 10,722 · 3.9 – 11.6 s (avg 6.9 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 |
| 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.**
- The cup carries a **red band**, unlike the plain white cup of the single-task set.
- 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 pick episode**, spread around the blue circle at
  a roughly **constant radius**. The aim is directional coverage — the angle varies, the distance
  is held fixed so that direction is the only thing changing between episodes.
- Place episodes start with the cup already grasped and end with it released inside the circle, so
  their start positions are the grasp poses rather than table positions.

### Placement coverage

Cup start positions for the 61 pick episodes, plotted on the shared background:

![cup start positions](pick_start_positions_mine.png)

Start → placed vectors for the 52 place episodes. Endpoints converge tightly on the circle — the
release target is nearly constant across the set:

![cup transport](place_transport_mine.png)

## Quality

Every episode was reviewed frame by frame before release. Recordings with a fault — a hand entering
the frame, the arm never contacting the cup, or zero motor motion — were removed rather than
patched. Camera keys and task strings were verified against the video content, not trusted from the
recording config.

## Usage

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

ds = LeRobotDataset("nevertmr/so101_cup_bluecircle_2task")
print(ds.num_episodes, ds.num_frames)
print(ds.meta.tasks)
```