| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - nero7 |
| - block-sorting |
| - block-stacking |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Luckistt/nero-block-sort-stack-v1"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** [More Information Needed] |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "nero7_single_arm", |
| "total_episodes": 165, |
| "total_frames": 311338, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:165" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "observation.images.external": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 300, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 300, |
| "video.width": 480, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "joint7", |
| "gripper" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "joint7", |
| "gripper" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
| **This is the successful-demonstration dataset (165 episodes).** |
|
|
| ## Task and collection |
|
|
| Place the green and orange blocks in the cup, then stack the blue blocks. |
| The active work area is the mat; spare objects outside it are not task targets. |
| Five recording sessions were collected on 2026-10-24 and 2026-10-25, with more |
| objects in later sessions. Exact object counts have not been annotated per episode. |
| The cup position, cup appearance and object arrangement vary across sessions. |
|
|
| The default `main` / `v3.0` revision contains **165 operator-labeled successful |
| demonstrations**. The `failures` branch contains **10 operator-labeled failed |
| demonstrations**, kept separately so they are not used as successful training examples. |
| Labels are the operator's recorded success/failure marks, not a new independent |
| visual certification of every trajectory. |
|
|
| | Session | Successful episodes | Failed episodes | |
| |---|---:|---:| |
| | 20261024_165431 | 45 | 3 | |
| | 20261024_175351 | 40 | 6 | |
| | 20261025_130101 | 32 | 0 | |
| | 20261025_140035 | 26 | 1 | |
| | 20261025_150001 | 22 | 0 | |
| |
| ## Representation |
| |
| - LeRobot v3.0, 30 frames/second, single AgileX Nero seven-axis follower arm. |
| - `observation.state`: seven measured joint angles in radians, followed by measured |
| total gripper opening in metres. |
| - `action`: seven leader joint targets in radians, followed by commanded total |
| gripper opening in metres. Absolute joint targets are used. |
| - External Gemini 336L RGB: 640 x 360; wrist Gemini 305 RGB: 480 x 300. |
| - Videos are H.264, without audio; depth images are not included. |
| - Original recordings are higher resolution (1280 x 720 and 848 x 530). |
| This repository is the derived training dataset, not a full-resolution raw archive. |
| - Episodes retain their recorded start/end boundaries. No idle-time trimming was |
| applied. Frames rejected by the existing synchronization checks or lacking a |
| decodable image pair are omitted and listed in the provenance annotations. |
| |
| ## Provenance and checks |
| |
| `annotations/episode_sources.json` maps every exported episode to its original |
| session and episode, success mark, frame range and any omitted frames. |
| `annotations/frame_sources.csv.gz` maps each exported frame to its raw aligned-row |
| index and original wall-clock timestamp. Exported timestamps are regular 30 Hz |
| video timestamps; the original timestamps remain in this provenance table. |
| Some original capture intervals exceed one video frame. No synthetic frames or |
| interpolated robot states were inserted: the export plays the retained samples at |
| 30 Hz, so these gaps are compressed in video time. Episodes with a source interval |
| above 100 ms are flagged by `timing_gap_over_100ms`; consult the source timestamps |
| when strict temporal fidelity is required. |
| The old collection tag `block_stack_k0` was replaced only in this derived export |
| with the task instruction above. The original recordings were not modified. |
|
|
| All video streams were fully decoded and their frame counts checked. State/action |
| values were checked for finite values. For the start, middle and end of every |
| episode, loaded states/actions were compared against the original CSV and decoded |
| images were compared against the corresponding resized source images. |
| `checksums.sha256` provides the SHA-256 of every published data/metadata/annotation |
| file and this dataset card. |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| successes = LeRobotDataset( |
| "Luckistt/nero-block-sort-stack-v1", revision="v3.0", video_backend="pyav" |
| ) |
| failures = LeRobotDataset( |
| "Luckistt/nero-block-sort-stack-v1", revision="failures", video_backend="pyav" |
| ) |
| ``` |
|
|
| No data license has been selected by the owner in this upload. |
|
|
