---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- ur3
---

# UR3 Multi-Task Dataset

Merged from the following 5 LeRobot v2.1 datasets:

| # | Source | Task |
|---|--------|------|
| 0 | [poweredshine/ur3-pot-lid-closing](https://huggingface.co/datasets/poweredshine/ur3-pot-lid-closing) | close the pot by placing the lid |
| 1 | [poweredshine/ur3-pot-lid-opening](https://huggingface.co/datasets/poweredshine/ur3-pot-lid-opening) | open the pot by removing its lid |
| 2 | [poweredshine/ur3-remove-cup-from-nested-cups](https://huggingface.co/datasets/poweredshine/ur3-remove-cup-from-nested-cups) | Remove cup from nested cups |
| 3 | [poweredshine/ur3-single-finger-pushing-glass-to-marker](https://huggingface.co/datasets/poweredshine/ur3-single-finger-pushing-glass-to-marker) | Single-finger push to blue marker |
| 4 | [poweredshine/ur3-white-class-on-coaster](https://huggingface.co/datasets/poweredshine/ur3-white-class-on-coaster) | pick up the white glass and put on a brown coaster |

See `meta/tasks.jsonl` for exact task strings.

Built with `merge_datasets_v21.py`, post-processed with `fix_merged_counts.py`.