CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi

该数据集包含100个成功的UR7e真实机器人CaP拾放任务前向episodes，已转换为LeRobot v3格式。任务提示为捡起红色方块并将其放在蓝色盘子上。数据集包含100个episodes，107,523帧，帧率为30 FPS，使用UR7e机器人，摄像头包括顶部视角和手腕视角的RealSense，视频编码为H.264、yuv420p、640x480分辨率。重置episodes已被排除。观测状态和动作为7维向量，包括六个UR臂关节弧度值和夹爪位置。动作字段保留了源收集器记录的绝对关节目标表示。此外，数据集中包含技能上下文列，如技能类型、进度、语言、关节目标、机器人/世界姿态目标和夹爪目标。This dataset contains 100 successful forward episodes of real-world UR7e robotic CaP pick-and-place tasks, converted to the LeRobot v3 format. The task prompt is to pick up the red cube and place it onto the blue plate. The dataset includes 100 episodes with a total of 107,523 frames at a frame rate of 30 FPS. The setup utilizes a UR7e robot, paired with RealSense cameras for both top-down and wrist-mounted viewpoints. The video data is encoded in H.264 with yuv420p pixel format, at a resolution of 640x480. Reset episodes have been excluded from this dataset. Observations and actions are formatted as 7-dimensional vectors, which comprise six UR arm joint radian values and the gripper position. The action field retains the absolute joint target representation recorded by the original data collector. Additionally, the dataset contains skill context columns, including skill type, progress, language, joint targets, robot/world pose targets, and gripper targets.