CoRL2026-CSI/UR7e-CaP-Stack_Block-100epi

UR7e CaP Stack Block 100 Episodes

This dataset contains 100 clean forward-success demonstrations for a real UR7e stacking task, recorded in LeRobot v3.0 format.

Task instruction: 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.

Dataset Summary

• Robot: Universal Robots UR7e
• Gripper: Robotiq 2F-85 style gripper signal represented as a ratio
• Cameras: RealSense topview and RealSense wrist, stored as video features
• Format: LeRobot v3.0
• Nominal FPS: 30
• Episodes: 100 selected clean forward episodes
• Action convention: absolute target action, matching skill.goal_position.joint; this is not a delta-action dataset
• Task type: real-robot block stacking with partial closed-loop redetection between stack stages

Features

Core learning fields include:

• observation.state: 6 UR7e arm joint positions plus gripper ratio
• action: absolute target joint action, 6 arm joint targets plus gripper target
• observation.images.realsense_topview: top-view RGB video
• observation.images.realsense_wrist: wrist RGB video
• skill.type, skill.progress, skill.goal_position.*, and skill.natural_language: skill-level target/context annotations
• observation.ee_pos.robot_xyzrpy and observation.gripper_binary: auxiliary robot state annotations

Quality Notes

The uploaded split intentionally excludes early legacy recordings that had irregular frame timing, missing per-frame camera synchronization audit metadata, and compressed one-frame gripper transitions. The selected 100 episodes passed local checks for raw-file completeness, frame/image count consistency, finite state/action values, monotonic timestamps, camera sync metadata presence, and successful forward-task judging.

Partial closed-loop stack stages intentionally pause and redetect between stages. Those detection intervals are not part of the recorded forward motion segments; the uploaded episodes contain the robot execution data intended for VLA tuning.

Provenance

A source manifest is included at meta/clean_source_manifest.json, mapping every uploaded LeRobot episode back to its local raw session and episode number.