Datasets:

Cache-SCA
/

UR7e_CaP_MultiTask_300epi_10fps

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - lerobot
  - lerobot-v3
  - ur7e
  - h264
  - 10fps
  - downsampled
  - multi-task
  - multitask
  - code-as-policies
  - cap
  - robotics
  - manipulation
  - arrange-block
  - stack-block
  - pick-and-place
configs:
  - config_name: default
    data_files: data/*/*.parquet

UR7e CaP MultiTask 300epi 10fps

This is a public LeRobot v3.0 multi-task dataset for UR7e Code-as-Policies manipulation. It merges three 100-episode 10fps datasets into one 300-episode training corpus while preserving the original numeric observations, actions, and task labels. The final uploaded copy stores all videos as 10fps H.264 MP4 files.

Dataset Summary

Robot: ur7e
Format: LeRobot v3.0
FPS: 10
Episodes: 300
Frames: 152,926
Cameras: observation.images.realsense_topview, observation.images.realsense_wrist at 480x640 RGB H.264
Actions: absolute 7D UR7e joint/gripper targets in action
Language labels: task instructions in meta/tasks.parquet; per-frame skill text in skill.natural_language

Task Mix

Task	Source dataset	Episodes	Frames	Instruction
arrange block	CoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps	100	47,116	Arrange red, green, blue blocks along the purple line from left to right.
stack block	CoRL2026-CSI/UR7e-CaP-Stack_Block-100epi_10fps	100	69,932	Build a stack on the blue dish with the red block on the bottom, the green block in the middle, and the blue block on top.
pick and place	CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi_10fps	100	35,878	pick up the red block and place it on the blue dish

Tasks

Arrange red, green, blue blocks along the purple line from left to right.
Build a stack on the blue dish with the red block on the bottom, the green block in the middle, and the blue block on top.
pick up the red block and place it on the blue dish

Provenance

The merged dataset was produced from the three source Hub repositories listed above using SCRAPE-IsaacLab's LeRobot aggregation wrapper. The arrange-block source has fps=10 and 10fps MP4 streams, but its original video feature metadata listed video.fps=30; only the local merge copy was normalized to video.fps=10 so LeRobot's strict feature-schema check could aggregate the datasets. The arrange-block MP4 files in the final merged copy were transcoded from AV1 to H.264 so the uploaded dataset has one consistent declared video codec. Source Hub repositories were not modified.

See meta/scrape_multitask_manifest.json for source revisions, episode/frame ranges, and local normalization details.