so101_coffee_all

2,564 teleoperated SO-101 demonstrations covering a coffee-making routine as 12 separately instructed steps, each recorded with two cup variants — a red-banded paper cup and a white one.

Steps 1–10 are the two-cup sequence (2,140 episodes, 107 per step-and-colour); steps 11 and 12 pick the cup up near the blue circle and place it back on it (424 episodes, 106 per step-and-colour).

This dataset was created using LeRobot.

Combines so101_coffee_subtask_3 and so101_coffee_recovery_2 with re-indexed episodes.

Overview

Episodes / frames	2,564 / 549,310 (5.09 h)
Composition	steps 1–10 × 2 colours × 107 + steps 11–12 × 2 colours × 106
Episode length	mean 214 frames (7.1 s), median 210, range 118–434
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

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
0–106	1	red	107	22,501	pick up the cup on the blue circle
107–213	1	white	107	21,529	pick up the cup on the blue circle
214–320	2	red	107	24,701	place the cup to the left coffee machine
321–427	2	white	107	23,321	place the cup to the left coffee machine
428–534	3	red	107	24,190	press the blue button of the left coffee machine
535–641	3	white	107	22,105	press the blue button of the left coffee machine
642–748	4	red	107	21,621	pick up the cup on the blue circle
749–855	4	white	107	20,531	pick up the cup on the blue circle
856–962	5	red	107	22,549	place the cup to the right coffee machine
963–1069	5	white	107	21,311	place the cup to the right coffee machine
1070–1176	6	red	107	23,208	press the blue button of the right coffee machine
1177–1283	6	white	107	21,729	press the blue button of the right coffee machine
1284–1390	7	red	107	23,765	pick up the cup on the left coffee machine
1391–1497	7	white	107	22,611	pick up the cup on the left coffee machine
1498–1604	8	red	107	26,188	place the cup to the left pink circle
1605–1711	8	white	107	24,125	place the cup to the left pink circle
1712–1818	9	red	107	22,763	pick up the cup on the right coffee machine
1819–1925	9	white	107	21,674	pick up the cup on the right coffee machine
1926–2032	10	red	107	26,188	place the cup to the left pink circle
2033–2139	10	white	107	26,651	place the cup to the left pink circle
2140–2245	11	red	106	22,422	pick up the cup near the blue circle
2246–2351	11	white	106	22,154	pick up the cup near the blue circle
2352–2457	12	red	106	20,822	place the cup on the blue circle
2458–2563	12	white	106	20,651	place the cup on the blue circle
			2,564	549,310

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds        = LeRobotDataset("aailabkaist/so101_coffee_all")
step3_red = LeRobotDataset("aailabkaist/so101_coffee_all", episodes=list(range(428, 535)))
step11    = LeRobotDataset("aailabkaist/so101_coffee_all", episodes=list(range(2140, 2352)))

Steps and instructions

Steps 1 and 4 share an instruction, and so do steps 8 and 10: 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.

Step	task_index	Instruction	Episodes
1	0	pick up the cup on the blue circle	214
2	1	place the cup to the left coffee machine	214
3	2	press the blue button of the left coffee machine	214
4	0	pick up the cup on the blue circle (same as step 1)	214
5	3	place the cup to the right coffee machine	214
6	4	press the blue button of the right coffee machine	214
7	5	pick up the cup on the left coffee machine	214
8	6	place the cup to the left pink circle	214
9	7	pick up the cup on the right coffee machine	214
10	6	place the cup to the left pink circle (same as step 8)	214
11	8	pick up the cup near the blue circle	212
12	9	place the cup on the blue circle	212