LeRobot v3.0 dataset derived from CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi by keeping every third episode-local source frame (frame_index % 3 == 0) and rebuilding each episode's frame_index, timestamp, and global index for 10 FPS playback.

Dataset Summary

Field	Value
Episodes	3,300
Frames	1,175,352
FPS	10
Source FPS	30
Source frames	3,522,774
Robot	`so101_follower`
Format	LeRobot v3.0
Source dataset	`CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi`
Source revision	`dba8cf9041a4ae3420987e53d9184f97a4d1cf86`

Tasks

This dataset contains 11 IsaacLab SO101 task families, 300 episodes each:

Index	Task family	Episodes
0	Pick and place cube	300
1	Sort cubes by color	300
2	Stack two cubes	300
3	Push button	300
4	Turn lever on	300
5	Turn lever off	300
6	Extract cube	300
7	Open box	300
8	Close box	300
9	Push cube	300
10	Pull cube	300

Cameras

Key	Shape	Codec	Description
`observation.images.top`	480 x 640 x 3	h264	Top-view RGB camera
`observation.images.left_wrist`	480 x 640 x 3	h264	Left wrist RGB camera

Features

The dataset keeps the source schema, including:

robot state/action fields in degree and URDF-radian forms
end-effector pose and gripper state
per-frame skill.natural_language, skill.type, and skill.progress
per-skill goal joint, EE pose, and gripper fields
per-frame subtask.natural_language, subtask.object_name, and subtask.target_position
SCRAPE sidecar metadata in meta/scrape_episode_metadata.jsonl
multi-task campaign metadata in meta/scrape_multitask_manifest.json

Verification

The local derivative passed the SCRAPE dataset audit:

FAIL=0, WARN=0, PASS=37
3,300 episodes and 1,175,352 data rows
both camera video packet counts match meta/info.json total frames
all per-episode video segment lengths match meta/episodes
per-episode frame indices are contiguous from 0
timestamps start at 0 and advance by 0.1 seconds
sampled non-video columns match source rows selected by frame_index % 3 == 0

Quick Start

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi_10fps")
sample = dataset[0]
print(sample.keys())

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Models trained or fine-tuned on Cache-SCA/Isaaclab-so101_11task_baseCaP_3300epi_10fps