Datasets:
80 episodes · 10 fps · 2 cameras · 640×480 h264
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_languageandsubtask.*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
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