SO-101 push-green-button evaluation rollouts
Merged LeRobot v3 dataset containing 1955 single-arm SO-101 evaluation episodes
(491,385 frames at 20 FPS) from 38 source datasets recorded August 25–September 16, 2026.
All sources share the same state/action schema and front, top, and wrist
camera configuration. The task instruction is normalized to
push the green button.
This is the AutoRLBench home of the dataset previously published as
villekuosmanen/eval_push_green_button_merged
(198 episodes from 15 sources, August 25–31). This revision adds 23 later
eval and RLT green-button runs (1757 episodes).
Visualization
Open episode 0 in the LeRobot Dataset Visualizer.
Success labels
Every source episode has complete per-frame BusyBox state. The episode-level
success column is true exactly when busybox.button.green_button contains
one rising edge during the episode. Other press counts (0 or ≥2) are labeled
failure. RoboCandyWrapper busybox_state sidecars are retained and
renumbered to the merged episode indices.
| policy_type | episodes | successes | success rate |
|---|---|---|---|
| eval | 332 | 117 | 35.2% |
| rlt | 1623 | 879 | 54.2% |
| total | 1955 | 996 | 50.9% |
Provenance
meta/episodes records source_repo_id, source_revision,
source_episode_index, policy_type, success, success_category,
green_button_press_count, success_source, task_id, and
task_instruction.
Sources
Original 15 sources (August 25–31) plus later villekuosmanen/eval_push_green_button_*
and villekuosmanen/eval_rlt_push_green_button_* runs with complete BusyBox
coverage and a green-button instruction. One RLT run used tagged language
(push the green button [base] / [frozen_rlt]); those tags were collapsed
to the canonical instruction. Empty, incomplete, and non-green-button
language runs were left out.
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