CoRL2026-CSI/IsaacLab-SO101_pick_place_baseCaP_300epi

Isaaclab So101 Pick Place 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: 110

Tasks

1. Pick up the lime block and place it on the gray dish.
2. Pick up the lime block and place it on the pink dish.
3. Pick up the pink block and place it on the blue dish.
4. Pick up the orange block and place it on the red dish.
5. Pick up the cyan block and place it on the black dish.
6. Pick up the cyan block and place it on the green dish.
7. Pick up the blue block and place it on the orange dish.
8. Pick up the green block and place it on the lime dish.
9. Pick up the gray block and place it on the purple dish.
10. Pick up the red block and place it on the gray dish.
11. Pick up the cyan block and place it on the gray dish.
12. Pick up the red block and place it on the green dish.
13. Pick up the purple block and place it on the gray dish.
14. Pick up the purple block and place it on the yellow dish.
15. Pick up the blue block and place it on the purple dish.
16. Pick up the red block and place it on the black dish.
17. Pick up the orange block and place it on the lime dish.
18. Pick up the yellow block and place it on the orange dish.
19. Pick up the pink block and place it on the cyan dish.
20. Pick up the pink block and place it on the green dish.
21. Pick up the cyan block and place it on the blue dish.
22. Pick up the red block and place it on the yellow dish.
23. Pick up the cyan block and place it on the pink dish.
24. Pick up the red block and place it on the orange dish.
25. Pick up the pink block and place it on the yellow dish.
26. Pick up the green block and place it on the pink dish.
27. Pick up the orange block and place it on the cyan dish.
28. Pick up the blue block and place it on the lime dish.
29. Pick up the purple block and place it on the green dish.
30. Pick up the purple block and place it on the lime dish.
31. Pick up the red block and place it on the blue dish.
32. Pick up the gray block and place it on the red dish.
33. Pick up the blue block and place it on the black dish.
34. Pick up the pink block and place it on the gray dish.
35. Pick up the purple block and place it on the cyan dish.
36. Pick up the black block and place it on the pink dish.
37. Pick up the purple block and place it on the red dish.
38. Pick up the red block and place it on the purple dish.
39. Pick up the green block and place it on the cyan dish.
40. Pick up the pink block and place it on the purple dish.
41. Pick up the gray block and place it on the blue dish.
42. Pick up the red block and place it on the lime dish.
43. Pick up the lime block and place it on the green dish.
44. Pick up the orange block and place it on the pink dish.
45. Pick up the pink block and place it on the orange dish.
46. Pick up the lime block and place it on the blue dish.
47. Pick up the blue block and place it on the gray dish.
48. Pick up the green block and place it on the blue dish.
49. Pick up the yellow block and place it on the black dish.
50. Pick up the purple block and place it on the blue dish.
51. Pick up the lime block and place it on the cyan dish.
52. Pick up the purple block and place it on the black dish.
53. Pick up the gray block and place it on the black dish.
54. Pick up the purple block and place it on the pink dish.
55. Pick up the blue block and place it on the green dish.
56. Pick up the black block and place it on the green dish.
57. Pick up the red block and place it on the pink dish.
58. Pick up the orange block and place it on the green dish.
59. Pick up the black block and place it on the purple dish.
60. Pick up the gray block and place it on the orange dish.
61. Pick up the lime block and place it on the yellow dish.
62. Pick up the cyan block and place it on the yellow dish.
63. Pick up the green block and place it on the purple dish.
64. Pick up the orange block and place it on the black dish.
65. Pick up the cyan block and place it on the purple dish.
66. Pick up the yellow block and place it on the cyan dish.
67. Pick up the green block and place it on the gray dish.
68. Pick up the cyan block and place it on the orange dish.
69. Pick up the gray block and place it on the pink dish.
70. Pick up the blue block and place it on the yellow dish.
71. Pick up the orange block and place it on the yellow dish.
72. Pick up the gray block and place it on the cyan dish.
73. Pick up the orange block and place it on the purple dish.
74. Pick up the gray block and place it on the green dish.
75. Pick up the pink block and place it on the red dish.
76. Pick up the purple block and place it on the orange dish.
77. Pick up the green block and place it on the red dish.
78. Pick up the blue block and place it on the cyan dish.
79. Pick up the lime block and place it on the purple dish.
80. Pick up the pink block and place it on the lime dish.
81. Pick up the black block and place it on the blue dish.
82. Pick up the blue block and place it on the pink dish.
83. Pick up the green block and place it on the orange dish.
84. Pick up the gray block and place it on the yellow dish.
85. Pick up the yellow block and place it on the green dish.
86. Pick up the yellow block and place it on the gray dish.
87. Pick up the black block and place it on the red dish.
88. Pick up the yellow block and place it on the lime dish.
89. Pick up the black block and place it on the yellow dish.
90. Pick up the black block and place it on the cyan dish.
91. Pick up the yellow block and place it on the red dish.
92. Pick up the black block and place it on the orange dish.
93. Pick up the cyan block and place it on the lime dish.
94. Pick up the orange block and place it on the gray dish.
95. Pick up the black block and place it on the gray dish.
96. Pick up the green block and place it on the yellow dish.
97. Pick up the red block and place it on the cyan dish.
98. Pick up the yellow block and place it on the blue dish.
99. Pick up the orange block and place it on the blue dish.
100. Pick up the lime block and place it on the red dish.
101. Pick up the yellow block and place it on the purple dish.
102. Pick up the lime block and place it on the orange dish.
103. Pick up the gray block and place it on the lime dish.
104. Pick up the cyan block and place it on the red dish.
105. Pick up the yellow block and place it on the pink dish.
106. Pick up the lime block and place it on the black dish.
107. Pick up the green block and place it on the black dish.
108. Pick up the blue block and place it on the red dish.
109. Pick up the black block and place it on the lime dish.
110. Pick up the pink block and place it on the black dish.

• Robot: so101_follower
• Cameras: top + left-wrist RGB @ 30 fps
• Episodes: 300 (307,960 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.