so101_coffee_recovery_2

424 teleoperated SO-101 demonstrations of two steps from a coffee-making routine, 212 episodes each:

"pick up the cup near the blue circle"
"place the cup on the blue circle"

Both steps were recorded with two cup variants — a red-banded paper cup and a white one — 106 episodes per step-and-colour.

This dataset was created using LeRobot.

Overview

Episodes / frames	424 / 86,049 (47.8 min)
Composition	2 steps × 2 colours × 106 episodes
Episode length	mean 203 frames (6.8 s), median 194, range 136–432
Distinct instructions	2
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

Neither the step nor the cup colour is part of the instruction string alone, 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
0–105	11	red	106	22,422	pick up the cup near the blue circle
106–211	11	white	106	22,154	pick up the cup near the blue circle
212–317	12	red	106	20,822	place the cup on the blue circle
318–423	12	white	106	20,651	place the cup on the blue circle
			424	86,049

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds         = LeRobotDataset("aailabkaist/so101_coffee_recovery_2")
step11     = LeRobotDataset("aailabkaist/so101_coffee_recovery_2", episodes=list(range(0, 212)))
step12     = LeRobotDataset("aailabkaist/so101_coffee_recovery_2", episodes=list(range(212, 424)))
step11_red = LeRobotDataset("aailabkaist/so101_coffee_recovery_2", episodes=list(range(0, 106)))

Steps and instructions

Step	task_index	Instruction	Episodes
11	0	pick up the cup near the blue circle	212
12	1	place the cup on the blue circle	212