Cache-SCA/IsaacLab-SO101-Phase1-sort_by_color-80episode-10fps

Isaaclab So101 Phase1 Sort By Color 80Episode 10Fps

LeRobot v3.0 dataset collected via SCRAPE-IsaacLab — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.

• —Task instruction: "Sort the blocks onto the matching colored dishes."
• —Robot: so101_follower
• —Cameras: top + left-wrist RGB @ 10 fps
• —Episodes: 80 (67,786 frames total)
• —Labels: per-frame natural-language skill labels in `skill.natural_language and subtask.*` columns (labeled by Gemini)

Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1.

FPS Downsample Derivation

This derivative dataset downsamples an existing LeRobot v3 dataset without modifying the source dataset.

• —Source repo: CoRL2026-CSI/IsaacLab-SO101-Phase1-sort_by_color-80episode
• —Output repo: CoRL2026-CSI/IsaacLab-SO101-Phase1-sort_by_color-80episode-10fps
• —Source FPS: 30
• —Target FPS: 10
• —Frame stride: 3
• —Action source offset frames: 2
• —Alignment: state[t] = source_state[i], action[t] = source_action[min(i + 2, episode_end)], next kept state = source_state[i + 3] when available
• —Terminal action policy: clamp to the final source frame inside the same episode
• —Validation: fps=10, total_episodes=80, total_frames=67786
• —Action alignment validation: 67786 rows, max_abs=0.0
• —Dataset audit: PASS=37, WARN=0, FAIL=0