Cache-SCA/UR7e_CaP_PickandPlace_100epi_10fps_state_tplus1_action
This dataset was created using LeRobot. Dataset Description 10fps downsampled LeRobot v3 dataset for UR7e red-block-on-blue-dish pick-and-place. It is derived from CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi by keeping source frames 0, 3, 6, ... in each successful forward episode. Numeric observations and absolute 7D UR7e actions are copied from the retained source frames without interpolation. Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/UR7e_CaP_PickandPlace_100epi_10fps_state_tplus1_action.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=CoRL2026-CSI/UR7eCaPPickandPlace100epi_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 Description
10fps downsampled LeRobot v3 dataset for UR7e red-block-on-blue-dish pick-and-place. It is derived from CoRL2026-CSI/UR7eCaPPickandPlace_100epi by keeping source frames 0, 3, 6, ... in each successful forward episode. Numeric observations and absolute 7D UR7e actions are copied from the retained source frames without interpolation.
- Homepage: https://huggingface.co/datasets/CoRL2026-CSI/UR7eCaPPickandPlace_100epi
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 100,
"total_frames": 35878,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"observation.images.realsense_topview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.realsense_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"skill.type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.progress": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.goal_position.joint": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"skill.goal_position.world_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
]
},
"skill.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.ee_pos.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.gripper_binary": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}Citation
BibTeX:
[More Information Needed]Action Relabeling
This derivative dataset rewrites the action column from future observed robot state.
- Source:
CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi_10fps - Target repo:
CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi_10fps_state_tplus1_action - Formula:
action[t] = observation.state[t + 1]within each episode - Terminal handling: final episode frames are clamped to the final observed state
- Original videos, tasks, timestamps, and feature schema are preserved