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Cache-SCA/UR7e_CaP_MultiTask_300epi_10fps

UR7e CaP MultiTask 300epi 10fps This is a public LeRobot v3.0 multi-task dataset for UR7e Code-as-Policies manipulation. It merges three 100-episode 10fps datasets into one 300-episode training corpus while preserving the original numeric observations, actions, and task labels. The final uploaded copy stores all videos as 10fps H.264 MP4 files. Dataset Summary Robot: ur7e Format: LeRobot v3.0 FPS: 10 Episodes: 300 Frames: 152,926 Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/UR7e_CaP_MultiTask_300epi_10fps.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face
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Dataset Card

UR7e CaP MultiTask 300epi 10fps

This is a public LeRobot v3.0 multi-task dataset for UR7e Code-as-Policies manipulation. It merges three 100-episode 10fps datasets into one 300-episode training corpus while preserving the original numeric observations, actions, and task labels. The final uploaded copy stores all videos as 10fps H.264 MP4 files.

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=CoRL2026-CSI/UR7eCaPMultiTask300epi_10fps"> <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>

Dataset Summary

  • —Robot: ur7e
  • —Format: LeRobot v3.0
  • —FPS: 10
  • —Episodes: 300
  • —Frames: 152,926
  • —Cameras: observation.images.realsense_topview, observation.images.realsense_wrist at 480x640 RGB H.264
  • —Actions: absolute 7D UR7e joint/gripper targets in action
  • —Language labels: task instructions in meta/tasks.parquet; per-frame skill text in skill.natural_language

Task Mix

TaskSource datasetEpisodesFramesInstruction
arrange blockCoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps10047,116Arrange red, green, blue blocks along the purple line from left to right.
stack blockCoRL2026-CSI/UR7e-CaP-Stack_Block-100epi_10fps10069,932Build a stack on the blue dish with the red block on the bottom, the green block in the middle, and the blue block on top.
pick and placeCoRL2026-CSI/UR7e_CaP_PickandPlace_100epi_10fps10035,878pick up the red block and place it on the blue dish

Tasks

  1. 1.Arrange red, green, blue blocks along the purple line from left to right.
  2. 2.Build a stack on the blue dish with the red block on the bottom, the green block in the middle, and the blue block on top.
  3. 3.pick up the red block and place it on the blue dish

Provenance

The merged dataset was produced from the three source Hub repositories listed above using SCRAPE-IsaacLab's LeRobot aggregation wrapper. The arrange-block source has fps=10 and 10fps MP4 streams, but its original video feature metadata listed video.fps=30; only the local merge copy was normalized to video.fps=10 so LeRobot's strict feature-schema check could aggregate the datasets. The arrange-block MP4 files in the final merged copy were transcoded from AV1 to H.264 so the uploaded dataset has one consistent declared video codec. Source Hub repositories were not modified.

See meta/scrape_multitask_manifest.json for source revisions, episode/frame ranges, and local normalization details.