| --- |
| 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`, and `skill.progress` |
| - per-skill goal joint, EE pose, and gripper fields |
| - per-frame `subtask.natural_language`, `subtask.object_name`, and `subtask.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.json` total 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 |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi_10fps") |
| sample = dataset[0] |
| print(sample.keys()) |
| ``` |
|
|
|
|
