CoRL2026-CSI/UR7e_CaP_MultiTask_300epi_10fps

这是一个公开的LeRobot v3.0多任务数据集，专为UR7e Code-as-Policies操作设计。数据集通过合并三个独立的100集10fps数据集（排列积木、堆叠积木、拾取放置）构建而成，形成一个包含300集、152,926帧的训练语料库。数据保留了原始数值观测、动作和任务标签，所有视频均以10fps H.264 MP4格式存储。数据集使用UR7e机器人，摄像头配置包括顶部视角和腕部视角的RGB图像（分辨率480x640）。动作数据为UR7e关节/夹爪的绝对7维目标。语言标签包括任务指令和逐帧技能文本。数据集支持多任务学习，涵盖三个具体操作任务：1) 将红、绿、蓝积木沿紫色线从左到右排列；2) 在蓝色盘子上堆叠积木，底部为红色，中间为绿色，顶部为蓝色；3) 拾取红色积木并放置到蓝色盘子上。This is a public LeRobot v3.0 multi-task dataset for UR7e Code-as-Policies manipulation. It merges three 100-episode 10fps datasets (arrange block, stack block, pick and place) into one 300-episode training corpus with 152,926 frames, while preserving the original numeric observations, actions, and task labels. All videos are stored as 10fps H.264 MP4 files. The dataset uses the UR7e robot, with camera configurations including top-view and wrist-view RGB images at 480x640 resolution. Actions are absolute 7D UR7e joint/gripper targets. Language labels include task instructions and per-frame skill text. The dataset supports multi-task learning, covering three specific manipulation tasks: 1) Arrange red, green, blue blocks along the purple line from left to right; 2) 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; 3) Pick up the red block and place it on the blue dish.