CoRL2026-CSI/UR7e-CaP_arrange_block_100epi

该数据集使用LeRobot创建，专注于机器人学领域，特别是针对UR7e机器人执行arrange_block任务。数据集包含100个episodes，总计141,253帧，数据量约为100MB，视频文件约为200MB。数据以30fps的帧率采集，特征包括机器人状态观察（如关节位置）、动作（7维关节位置）、来自顶部和手腕摄像头的视频观察（480x640分辨率，3通道RGB）、技能类型、进度、目标位置（关节和世界坐标系）、自然语言指令、末端执行器位置、夹爪状态等。数据集适用于训练和评估基于代码的策略（Code-as-Policies）方法，旨在支持机器人操作任务的研究。This dataset is developed with LeRobot, targeting the robotics domain, particularly the arrange_block task with the UR7e robot. It contains 100 episodes, summing up to 141,253 frames, with a total data size of about 100 MB and video files of approximately 200 MB. The data is acquired at a frame rate of 30 fps. The collected features cover robot state observations (e.g., joint positions), actions (7-dimensional joint positions), video observations from the top and wrist cameras (480×640 resolution, 3-channel RGB), skill type, progress, target positions (in both joint and world coordinate systems), natural language instructions, end-effector positions, gripper states, and more. This dataset is applicable for training and evaluating Code-as-Policies approaches, and aims to facilitate research on robotic manipulation tasks.