---
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).