| --- |
| 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. |
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=CoRL2026-CSI/UR7e_CaP_MultiTask_300epi_10fps"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
| ## 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](https://huggingface.co/datasets/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](https://huggingface.co/datasets/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](https://huggingface.co/datasets/CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi_10fps) | 100 | 35,878 | pick up the red block and place it on the blue dish | |
|
|
| ## Tasks |
|
|
| 1. Arrange red, green, blue blocks along the purple line from left to right. |
| 2. 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. |
| 3. 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. |
|
|
