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CoRL2026-CSI
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IsaacLab-SO101_extract_cube_baseCaP_300epi

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Robotics
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Video
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< 1K
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robotics
lerobot
so101
isaac-lab
code-as-policies
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Isaaclab So101 Extract Cube Basecap 300Epi

LeRobot v3.0 dataset collected via SCRAPE-IsaacLab — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.

  • Tasks: 105

Tasks

  1. Extract the gray cube from the pocket and place it at the cyan target marker.
  2. Extract the purple cube from the pocket and place it at the cyan target marker.
  3. Extract the green cube from the pocket and place it at the yellow target marker.
  4. Extract the pink cube from the pocket and place it at the red target marker.
  5. Extract the gray cube from the pocket and place it at the yellow target marker.
  6. Extract the purple cube from the pocket and place it at the green target marker.
  7. Extract the black cube from the pocket and place it at the pink target marker.
  8. Extract the purple cube from the pocket and place it at the orange target marker.
  9. Extract the lime cube from the pocket and place it at the gray target marker.
  10. Extract the blue cube from the pocket and place it at the green target marker.
  11. Extract the blue cube from the pocket and place it at the cyan target marker.
  12. Extract the lime cube from the pocket and place it at the purple target marker.
  13. Extract the cyan cube from the pocket and place it at the blue target marker.
  14. Extract the gray cube from the pocket and place it at the lime target marker.
  15. Extract the red cube from the pocket and place it at the blue target marker.
  16. Extract the blue cube from the pocket and place it at the lime target marker.
  17. Extract the black cube from the pocket and place it at the cyan target marker.
  18. Extract the purple cube from the pocket and place it at the lime target marker.
  19. Extract the orange cube from the pocket and place it at the yellow target marker.
  20. Extract the lime cube from the pocket and place it at the cyan target marker.
  21. Extract the cyan cube from the pocket and place it at the yellow target marker.
  22. Extract the lime cube from the pocket and place it at the red target marker.
  23. Extract the yellow cube from the pocket and place it at the lime target marker.
  24. Extract the orange cube from the pocket and place it at the lime target marker.
  25. Extract the black cube from the pocket and place it at the orange target marker.
  26. Extract the red cube from the pocket and place it at the orange target marker.
  27. Extract the green cube from the pocket and place it at the blue target marker.
  28. Extract the red cube from the pocket and place it at the gray target marker.
  29. Extract the orange cube from the pocket and place it at the green target marker.
  30. Extract the black cube from the pocket and place it at the yellow target marker.
  31. Extract the blue cube from the pocket and place it at the gray target marker.
  32. Extract the yellow cube from the pocket and place it at the cyan target marker.
  33. Extract the pink cube from the pocket and place it at the blue target marker.
  34. Extract the yellow cube from the pocket and place it at the gray target marker.
  35. Extract the orange cube from the pocket and place it at the black target marker.
  36. Extract the black cube from the pocket and place it at the blue target marker.
  37. Extract the cyan cube from the pocket and place it at the gray target marker.
  38. Extract the yellow cube from the pocket and place it at the red target marker.
  39. Extract the cyan cube from the pocket and place it at the lime target marker.
  40. Extract the pink cube from the pocket and place it at the black target marker.
  41. Extract the green cube from the pocket and place it at the red target marker.
  42. Extract the gray cube from the pocket and place it at the blue target marker.
  43. Extract the black cube from the pocket and place it at the gray target marker.
  44. Extract the blue cube from the pocket and place it at the red target marker.
  45. Extract the pink cube from the pocket and place it at the cyan target marker.
  46. Extract the green cube from the pocket and place it at the gray target marker.
  47. Extract the red cube from the pocket and place it at the purple target marker.
  48. Extract the green cube from the pocket and place it at the orange target marker.
  49. Extract the purple cube from the pocket and place it at the pink target marker.
  50. Extract the cyan cube from the pocket and place it at the green target marker.
  51. Extract the orange cube from the pocket and place it at the purple target marker.
  52. Extract the green cube from the pocket and place it at the cyan target marker.
  53. Extract the blue cube from the pocket and place it at the orange target marker.
  54. Extract the yellow cube from the pocket and place it at the black target marker.
  55. Extract the red cube from the pocket and place it at the cyan target marker.
  56. Extract the gray cube from the pocket and place it at the orange target marker.
  57. Extract the gray cube from the pocket and place it at the purple target marker.
  58. Extract the blue cube from the pocket and place it at the black target marker.
  59. Extract the gray cube from the pocket and place it at the black target marker.
  60. Extract the cyan cube from the pocket and place it at the pink target marker.
  61. Extract the red cube from the pocket and place it at the green target marker.
  62. Extract the green cube from the pocket and place it at the pink target marker.
  63. Extract the lime cube from the pocket and place it at the yellow target marker.
  64. Extract the yellow cube from the pocket and place it at the green target marker.
  65. Extract the green cube from the pocket and place it at the lime target marker.
  66. Extract the gray cube from the pocket and place it at the pink target marker.
  67. Extract the yellow cube from the pocket and place it at the orange target marker.
  68. Extract the green cube from the pocket and place it at the purple target marker.
  69. Extract the yellow cube from the pocket and place it at the pink target marker.
  70. Extract the purple cube from the pocket and place it at the red target marker.
  71. Extract the red cube from the pocket and place it at the pink target marker.
  72. Extract the orange cube from the pocket and place it at the blue target marker.
  73. Extract the pink cube from the pocket and place it at the purple target marker.
  74. Extract the black cube from the pocket and place it at the lime target marker.
  75. Extract the orange cube from the pocket and place it at the cyan target marker.
  76. Extract the pink cube from the pocket and place it at the lime target marker.
  77. Extract the orange cube from the pocket and place it at the gray target marker.
  78. Extract the black cube from the pocket and place it at the green target marker.
  79. Extract the lime cube from the pocket and place it at the green target marker.
  80. Extract the red cube from the pocket and place it at the lime target marker.
  81. Extract the purple cube from the pocket and place it at the yellow target marker.
  82. Extract the gray cube from the pocket and place it at the green target marker.
  83. Extract the purple cube from the pocket and place it at the blue target marker.
  84. Extract the cyan cube from the pocket and place it at the orange target marker.
  85. Extract the orange cube from the pocket and place it at the pink target marker.
  86. Extract the yellow cube from the pocket and place it at the purple target marker.
  87. Extract the pink cube from the pocket and place it at the green target marker.
  88. Extract the pink cube from the pocket and place it at the gray target marker.
  89. Extract the pink cube from the pocket and place it at the orange target marker.
  90. Extract the red cube from the pocket and place it at the black target marker.
  91. Extract the pink cube from the pocket and place it at the yellow target marker.
  92. Extract the gray cube from the pocket and place it at the red target marker.
  93. Extract the green cube from the pocket and place it at the black target marker.
  94. Extract the blue cube from the pocket and place it at the yellow target marker.
  95. Extract the blue cube from the pocket and place it at the pink target marker.
  96. Extract the lime cube from the pocket and place it at the black target marker.
  97. Extract the lime cube from the pocket and place it at the pink target marker.
  98. Extract the black cube from the pocket and place it at the purple target marker.
  99. Extract the lime cube from the pocket and place it at the blue target marker.
  100. Extract the purple cube from the pocket and place it at the gray target marker.
  101. Extract the blue cube from the pocket and place it at the purple target marker.
  102. Extract the cyan cube from the pocket and place it at the red target marker.
  103. Extract the yellow cube from the pocket and place it at the blue target marker.
  104. Extract the lime cube from the pocket and place it at the orange target marker.
  105. Extract the cyan cube from the pocket and place it at the black target marker.
  • Robot: so101_follower
  • Cameras: top + left-wrist RGB @ 30 fps
  • Episodes: 300 (305,564 frames total)
  • Labels: per-frame natural-language skill labels in skill.natural_language and subtask.* columns (labeled by Gemini)

Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1.
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