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

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

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

This dataset was created using LeRobot.

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:

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

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

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)