| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - lerobot |
| - v3.0 |
| - robotics |
| - ur7e |
| - universal-robots |
| - real-robot |
| - robotiq-2f85 |
| - realsense |
| - multi-camera |
| - code-as-policies |
| - vla |
| - smolvla |
| - imitation-learning |
| - manipulation |
| - stacking |
| - absolute-action |
| - skill-target-action |
| - corl2026-csi |
| pretty_name: UR7e CaP Stack Block 100 Episodes |
| size_categories: |
| - 100<n<1K |
| --- |
| |
| # 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. |
|
|
