| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so101 |
| - manipulation |
| - stack |
| - block-stacking |
| - imitation-learning |
| - real-world |
| - method3 |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # SO101-StackBlock_Ours_100epi |
|
|
| 100 successful demonstrations of stacking RED → GREEN → BLUE blocks on a blue dish, collected on a single LeRobot SO-101 arm. Recorded via the AutoDataCollector pipeline (Phase 1 buffer-aware seeding + Phase 2 MI-based useful-OOD acquisition). |
|
|
| ## Task |
|
|
| > **Stack red, green, and blue blocks on the blue dish from bottom to top.** |
|
|
| Per episode: |
| 1. Pick red block → place on blue dish |
| 2. Re-detect → pick green block → stack on red |
| 3. Re-detect → pick blue block → stack on green |
|
|
| ## Dataset stats |
|
|
| | | | |
| |---|---| |
| | Episodes | 100 | |
| | Frames | 86,402 | |
| | FPS | 10 | |
| | Avg episode length | ~864 frames (≈ 86 sec) | |
| | Robot | SO-101 (5-DoF + gripper) | |
| | Cameras | `top` (RealSense overhead) + `left_wrist` (wrist OpenCV) | |
| | Video codec | H.264 (yuv420p, 640×480 @ 10fps) | |
|
|
| ## Features |
|
|
| | Key | Shape | Notes | |
| |---|---|---| |
| | `observation.state` | (6,) | joint positions (5 arm + gripper) | |
| | `action` | (6,) | target joint positions | |
| | `observation.images.top` | (480, 640, 3) | overhead RGB, H.264 | |
| | `observation.images.left_wrist` | (480, 640, 3) | wrist RGB, H.264 | |
| | `observation.ee_pos.robot_xyzrpy` | (6,) | end-effector pose | |
| | `observation.gripper_binary` | (1,) | binary gripper state | |
| | `skill.*` | various | per-skill subgoal & verification metadata | |
| | `subtask.*` | various | subtask boundary labels | |
|
|
| ## Collection method |
|
|
| - **Phase 1** (80 episodes): buffer-aware subgoal seeding — each episode perturbs subgoals to diversify reached states across 20 random initial seeds × 5 slots. |
| - **Phase 2** (20 episodes): MI-based useful-OOD acquisition replays Phase 1 subgoals but varies trajectory via curobo plan_batch + MI scoring. |
| - All 100 episodes verified via VLM judge (`gemini-3-flash-preview`) returning TRUE. |
| |
| ## Usage |
| |
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
|
|
| ds = LeRobotDataset("CoRL2026-CSI/SO101-StackBlock_Ours_100epi") |
| print(ds.num_episodes, ds.num_frames, ds.fps) |
|
|
| sample = ds[0] |
| top = sample["observation.images.top"] # (3, 480, 640) torch.uint8 |
| wrist = sample["observation.images.left_wrist"] |
| action = sample["action"] # (6,) joint targets |
| ``` |
| |
| ## Source |
| |
| Collected with [AutoDataCollector](https://github.com/HyeonseokE/AutoDataCollector) (CoRL 2026 submission). |
| |
