100 episodes · 30 fps · 2 cameras · 640×480 h264
UR7e CaP Pick-and-Place 100 Episodes
This dataset contains 100 successful forward episodes from a UR7e real-robot CaP pick-and-place session, converted to LeRobot v3 format.
- Repository:
CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi - Source session:
/home/franka/hscho_workspace/AutoDataCollector-ur7e-v2/results/ur7e/session_20260417_135807 - Selection rule: first 100 forward episodes with
judge_result.prediction == "TRUE" - Task prompt:
pick up the red block and place it on the blue dish - Episodes: 100
- Frames: 107,523
- FPS: 30
- Robot: UR7e
- Video cameras:
observation.images.realsense_topview,observation.images.realsense_wrist - Video encoding: H.264, yuv420p, 640x480, 30 FPS
- Reset episodes: excluded
Schema Notes
observation.state and action are 7D vectors: six UR arm joints in radians plus the gripper position. The action field preserves the logged absolute joint target representation from the source collector.
Additional task/skill context is included in skill.* columns, including skill type, progress, language, joint goal, robot/world pose goals, and gripper goal.
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi")
Provenance
See meta/source_session.json for the selected source episode names and per-episode frame counts.
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