aailabkaist/so101_recovery_2task
so101_recovery_2task — SO-101 cup repositioning as two tasks, 749 episodes Cup start positions for the 394 pick episodes (left) and start → placed transport for 350 of the 355 place episodes (right) — one color per operator, anonymized. Front camera (fixed, elevated view), 8× speed — pick episodes followed by place episodes. 749 teleoperated demonstrations on the SO-101 arm, collected by 8 operators and recorded as two separately instructed tasks rather than one continuous… See the full description on the dataset page: https://huggingface.co/datasets/aailabkaist/so101_recovery_2task.
so101recovery2task — SO-101 cup repositioning as two tasks, 749 episodes
Cup start positions for the 394 pick episodes (left) and start → placed transport for 350 of the 355 place episodes (right) — one color per operator, anonymized.
Front camera (fixed, elevated view), 8× speed — pick episodes followed by place episodes.
749 teleoperated demonstrations on the SO-101 arm, collected by 8 operators and recorded as two separately instructed tasks rather than one continuous motion:
"pick up the cup near the blue circle" — 394 episodes · 89,269 frames "place the cup on the blue circle" — 355 episodes · 61,986 frames
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.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=aailabkaist/so101recovery_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
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.
- Most episodes use a red-banded paper cup; 71 pick episodes (18 %) use a plain white one.
- Background coffee machines are the deployment context of the parent project — kept exactly as-is in every frame.
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.
Trained models
Four π0.5 fine-tunes trained on this dataset, in the two-task collection: expert-only vs full fine-tune, at 5K and 10K steps.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("aailabkaist/so101_recovery_2task")
print(ds.num_episodes, ds.num_frames)
print(ds.meta.tasks)A single-task variant of this setup — one instruction covering the whole pick-and-place motion, with a plain white cup — lives in the [SO-101 · cup → blue circle (single-task) collection](https://huggingface.co/collections/nevertmr/so-101-cup-blue-circle-single-task-6a58a5ef4ebe2dc6c028f093).