--- 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). ## 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.