CoRL2026-CSI/isaaclab-picksugarboxonplate-so101-100ep
收藏资源简介：
LeRobot v3.0数据集通过[SCRAPE-IsaacLab](https://github.com/vpraise00/SCRAPE-IsaacLab)收集，这是一个在Isaac Sim 5.1 / IsaacLab 2.3.2中运行的Code-as-Policies回放管道。任务指令为：“拿起糖盒并将其放在红色盘子上”。使用的机器人是so101_follower，摄像头配置为顶部和左腕RGB @ 30 fps。总共有100个片段（104,476帧）。标签包括每帧的自然语言技能标签，存储在``skill.natural_language``和``subtask.*``列中（由Gemini标记）。数据集在Isaac Sim 5.1 / IsaacLab 2.3.2环境下，使用Python 3.11和CUDA 12.1生成。
LeRobot v3.0 dataset collected via [SCRAPE-IsaacLab](https://github.com/vpraise00/SCRAPE-IsaacLab) — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2. Task instruction: "pick the sugar box and place it on the red plate". Robot: so101_follower. Cameras: top + left-wrist RGB @ 30 fps. Episodes: 100 (104,476 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.
