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CoRL2026-CSI
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IsaacLab-SO101_pull_cube_baseCaP_300epi

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Robotics
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Video
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robotics
lerobot
so101
isaac-lab
code-as-policies
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Isaaclab So101 Pull 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: 106

Tasks

  1. Pull the cyan cube to the red target marker without pick-and-place.
  2. Pull the blue cube to the gray target marker without pick-and-place.
  3. Pull the orange cube to the cyan target marker without pick-and-place.
  4. Pull the pink cube to the blue target marker without pick-and-place.
  5. Pull the orange cube to the blue target marker without pick-and-place.
  6. Pull the pink cube to the green target marker without pick-and-place.
  7. Pull the green cube to the lime target marker without pick-and-place.
  8. Pull the yellow cube to the green target marker without pick-and-place.
  9. Pull the yellow cube to the blue target marker without pick-and-place.
  10. Pull the black cube to the gray target marker without pick-and-place.
  11. Pull the red cube to the cyan target marker without pick-and-place.
  12. Pull the cyan cube to the purple target marker without pick-and-place.
  13. Pull the gray cube to the black target marker without pick-and-place.
  14. Pull the lime cube to the black target marker without pick-and-place.
  15. Pull the pink cube to the lime target marker without pick-and-place.
  16. Pull the black cube to the yellow target marker without pick-and-place.
  17. Pull the cyan cube to the green target marker without pick-and-place.
  18. Pull the blue cube to the red target marker without pick-and-place.
  19. Pull the red cube to the green target marker without pick-and-place.
  20. Pull the green cube to the pink target marker without pick-and-place.
  21. Pull the pink cube to the yellow target marker without pick-and-place.
  22. Pull the lime cube to the cyan target marker without pick-and-place.
  23. Pull the lime cube to the blue target marker without pick-and-place.
  24. Pull the green cube to the yellow target marker without pick-and-place.
  25. Pull the orange cube to the red target marker without pick-and-place.
  26. Pull the yellow cube to the red target marker without pick-and-place.
  27. Pull the purple cube to the gray target marker without pick-and-place.
  28. Pull the orange cube to the yellow target marker without pick-and-place.
  29. Pull the purple cube to the yellow target marker without pick-and-place.
  30. Pull the pink cube to the orange target marker without pick-and-place.
  31. Pull the green cube to the black target marker without pick-and-place.
  32. Pull the purple cube to the cyan target marker without pick-and-place.
  33. Pull the blue cube to the lime target marker without pick-and-place.
  34. Pull the gray cube to the orange target marker without pick-and-place.
  35. Pull the blue cube to the orange target marker without pick-and-place.
  36. Pull the black cube to the pink target marker without pick-and-place.
  37. Pull the yellow cube to the gray target marker without pick-and-place.
  38. Pull the green cube to the red target marker without pick-and-place.
  39. Pull the red cube to the orange target marker without pick-and-place.
  40. Pull the gray cube to the lime target marker without pick-and-place.
  41. Pull the purple cube to the lime target marker without pick-and-place.
  42. Pull the gray cube to the purple target marker without pick-and-place.
  43. Pull the red cube to the pink target marker without pick-and-place.
  44. Pull the orange cube to the gray target marker without pick-and-place.
  45. Pull the pink cube to the gray target marker without pick-and-place.
  46. Pull the blue cube to the black target marker without pick-and-place.
  47. Pull the yellow cube to the purple target marker without pick-and-place.
  48. Pull the black cube to the purple target marker without pick-and-place.
  49. Pull the pink cube to the purple target marker without pick-and-place.
  50. Pull the red cube to the yellow target marker without pick-and-place.
  51. Pull the orange cube to the pink target marker without pick-and-place.
  52. Pull the cyan cube to the black target marker without pick-and-place.
  53. Pull the black cube to the blue target marker without pick-and-place.
  54. Pull the lime cube to the gray target marker without pick-and-place.
  55. Pull the yellow cube to the orange target marker without pick-and-place.
  56. Pull the blue cube to the purple target marker without pick-and-place.
  57. Pull the black cube to the green target marker without pick-and-place.
  58. Pull the lime cube to the green target marker without pick-and-place.
  59. Pull the purple cube to the green target marker without pick-and-place.
  60. Pull the lime cube to the pink target marker without pick-and-place.
  61. Pull the black cube to the lime target marker without pick-and-place.
  62. Pull the lime cube to the red target marker without pick-and-place.
  63. Pull the gray cube to the pink target marker without pick-and-place.
  64. Pull the cyan cube to the pink target marker without pick-and-place.
  65. Pull the cyan cube to the blue target marker without pick-and-place.
  66. Pull the purple cube to the black target marker without pick-and-place.
  67. Pull the red cube to the black target marker without pick-and-place.
  68. Pull the gray cube to the blue target marker without pick-and-place.
  69. Pull the purple cube to the red target marker without pick-and-place.
  70. Pull the cyan cube to the orange target marker without pick-and-place.
  71. Pull the yellow cube to the cyan target marker without pick-and-place.
  72. Pull the yellow cube to the lime target marker without pick-and-place.
  73. Pull the blue cube to the green target marker without pick-and-place.
  74. Pull the pink cube to the red target marker without pick-and-place.
  75. Pull the green cube to the cyan target marker without pick-and-place.
  76. Pull the orange cube to the purple target marker without pick-and-place.
  77. Pull the red cube to the lime target marker without pick-and-place.
  78. Pull the gray cube to the cyan target marker without pick-and-place.
  79. Pull the pink cube to the black target marker without pick-and-place.
  80. Pull the cyan cube to the gray target marker without pick-and-place.
  81. Pull the lime cube to the yellow target marker without pick-and-place.
  82. Pull the orange cube to the green target marker without pick-and-place.
  83. Pull the gray cube to the yellow target marker without pick-and-place.
  84. Pull the orange cube to the lime target marker without pick-and-place.
  85. Pull the purple cube to the blue target marker without pick-and-place.
  86. Pull the blue cube to the cyan target marker without pick-and-place.
  87. Pull the yellow cube to the pink target marker without pick-and-place.
  88. Pull the lime cube to the purple target marker without pick-and-place.
  89. Pull the green cube to the purple target marker without pick-and-place.
  90. Pull the red cube to the gray target marker without pick-and-place.
  91. Pull the red cube to the blue target marker without pick-and-place.
  92. Pull the black cube to the cyan target marker without pick-and-place.
  93. Pull the blue cube to the yellow target marker without pick-and-place.
  94. Pull the gray cube to the green target marker without pick-and-place.
  95. Pull the pink cube to the cyan target marker without pick-and-place.
  96. Pull the gray cube to the red target marker without pick-and-place.
  97. Pull the yellow cube to the black target marker without pick-and-place.
  98. Pull the black cube to the red target marker without pick-and-place.
  99. Pull the cyan cube to the yellow target marker without pick-and-place.
  100. Pull the green cube to the blue target marker without pick-and-place.
  101. Pull the orange cube to the black target marker without pick-and-place.
  102. Pull the green cube to the orange target marker without pick-and-place.
  103. Pull the lime cube to the orange target marker without pick-and-place.
  104. Pull the blue cube to the pink target marker without pick-and-place.
  105. Pull the purple cube to the pink target marker without pick-and-place.
  106. Pull the green cube to the gray target marker without pick-and-place.
  • Robot: so101_follower
  • Cameras: top + left-wrist RGB @ 30 fps
  • Episodes: 300 (289,726 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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