datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Franka-13tasks_isaaclabIsaaclab-so101_11task_baseCaP_3300epi_10fps
IsaacLab SO101 11-Task baseCaP Dataset (3300 Episodes, 10 FPS)
LeRobot v3.0 dataset derived from
CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi by keeping every third
episode-local source frame (frame_index % 3 == 0) and rebuilding each
episode's frame_index, timestamp, and global index for 10 FPS playback.
Dataset Summary
Field
Value
Episodes
3,300
Frames
1,175,352
FPS
10
Source FPS
30
Source frames
3,522,774
Robot
so101_follower
Format… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/Isaaclab-so101_11task_baseCaP_3300epi_10fps.isaaclab-sortcubesbycolor-so101-100ep
IsaacLab SortCubesByColor SO-101 — 100 episodes
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: "Sort the blocks by color: place each block on its matching colored dish. Put the red block on the red dish, the green block on the green dish, and the blue block on the blue dish."
Robot: SO-101 single-arm follower
Observations: top-view + left-wrist RGB cameras @ 30 fps, 6-DoF joint state… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/isaaclab-sortcubesbycolor-so101-100ep.IsaacLab-SO101_open_box_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_open_box_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_open_box_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101_pick_place_baseCaP_100epi_10fps
Isaaclab So101 Pick Place Basecap 100Epi 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.
Tasks: 78
Tasks
Pick up the black block and place it on the lime dish.
Pick up the blue block and place it on the gray dish.
Pick up the yellow block and place it on the black dish.
Pick up the gray block and place it on the green dish.
Pick up the pink block and place it on the red… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_pick_place_baseCaP_100epi_10fps.IsaacLabIsaacLab-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… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-sort_by_color-80episode-10fps.IsaacLab-SO101_turn_off_lever_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_turn_off_lever_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_turn_off_lever_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101_stack_2_cubes_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_stack_2_cubes_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_stack_2_cubes_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101_push_cube_baseCaP_100epi_10fps
Isaaclab So101 Push Cube Basecap 100Epi 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.
Tasks: 71
Tasks
Push the red cube to the purple target marker without picking it up.
Push the black cube to the orange target marker without picking it up.
Push the lime cube to the cyan target marker without picking it up.
Push the red cube to the orange target marker without… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_push_cube_baseCaP_100epi_10fps.IsaacLab-SO101_push_button_baseCaP_100epi_10fps
Isaaclab So101 Push Button Basecap 100Epi 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.
Tasks: 11
Tasks
Press the blue button.
Press the yellow button.
Press the pink button.
Press the black button.
Press the cyan button.
Press the gray button.
Press the green button.
Press the lime button.
Press the red button.
Press the purple button.
Press the orange button.… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_push_button_baseCaP_100epi_10fps.IsaacLab-SO101_sort_by_color_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_sort_by_color_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_sort_by_color_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101_close_box_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101_turn_on_lever_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_turn_on_lever_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_turn_on_lever_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101_extract_cube_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_extract_cube_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_extract_cube_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
isaaclab-pickplacecube-so101-1000epis-no-randomize-baseline_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 1000,
"total_frames": 362099,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/isaaclab-pickplacecube-so101-1000epis-no-randomize-baseline_10fps.IsaacLab-SO101_pull_cube_baseCaP_100epi_10fps
Isaaclab So101 Pull Cube Basecap 100Epi 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.
Tasks: 71
Tasks
Pull the green cube to the pink target marker without pick-and-place.
Pull the blue cube to the purple target marker without pick-and-place.
Pull the pink cube to the blue target marker without pick-and-place.
Pull the gray cube to the pink target marker without… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_pull_cube_baseCaP_100epi_10fps.IsaacLab-SO101-Phase1-pick_place-80episode-10fps
FPS Downsample Derivation
This derivative dataset downsamples an existing LeRobot v3 dataset without modifying the source dataset.
Source repo: CoRL2026-CSI/IsaacLab-SO101-Phase1-pick_place-80episode
Output repo: CoRL2026-CSI/IsaacLab-SO101-Phase1-pick_place-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]… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-pick_place-80episode-10fps.isaaclab2.3.0