metadata
license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- lerobot
- so101
- isaac-lab
- code-as-policies
- multitask
- basecap
- 10fps
size_categories:
- 1M<n<10M
configs:
- config_name: default
data_files: data/*/*.parquet
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 | LeRobot v3.0 |
| Source dataset | CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi |
| Source revision | dba8cf9041a4ae3420987e53d9184f97a4d1cf86 |
Tasks
This dataset contains 11 IsaacLab SO101 task families, 300 episodes each:
| Index | Task family | Episodes |
|---|---|---|
| 0 | Pick and place cube | 300 |
| 1 | Sort cubes by color | 300 |
| 2 | Stack two cubes | 300 |
| 3 | Push button | 300 |
| 4 | Turn lever on | 300 |
| 5 | Turn lever off | 300 |
| 6 | Extract cube | 300 |
| 7 | Open box | 300 |
| 8 | Close box | 300 |
| 9 | Push cube | 300 |
| 10 | Pull cube | 300 |
Cameras
| Key | Shape | Codec | Description |
|---|---|---|---|
observation.images.top |
480 x 640 x 3 | h264 | Top-view RGB camera |
observation.images.left_wrist |
480 x 640 x 3 | h264 | Left wrist RGB camera |
Features
The dataset keeps the source schema, including:
- robot state/action fields in degree and URDF-radian forms
- end-effector pose and gripper state
- per-frame
skill.natural_language,skill.type, andskill.progress - per-skill goal joint, EE pose, and gripper fields
- per-frame
subtask.natural_language,subtask.object_name, andsubtask.target_position - SCRAPE sidecar metadata in
meta/scrape_episode_metadata.jsonl - multi-task campaign metadata in
meta/scrape_multitask_manifest.json
Verification
The local derivative passed the SCRAPE dataset audit:
FAIL=0,WARN=0,PASS=37- 3,300 episodes and 1,175,352 data rows
- both camera video packet counts match
meta/info.jsontotal frames - all per-episode video segment lengths match
meta/episodes - per-episode frame indices are contiguous from 0
- timestamps start at 0 and advance by 0.1 seconds
- sampled non-video columns match source rows selected by
frame_index % 3 == 0
Quick Start
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi_10fps")
sample = dataset[0]
print(sample.keys())