Datasets:
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observation.state list | action list | timestamp float32 0 49.4 | frame_index int64 0 741 | episode_index int64 0 44 | index int64 0 15.8k | task_index int64 0 26 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
stackblocks-stage3-v1 — RoboTwin stack-blocks-two task finetune data
Stage-3 of a 3-stage curriculum (DROID CoT pretrain → playground @grip conditioning →
task finetune). 45 human-teleop episodes of the stack_blocks_two task (Franka,
RoboTwin sim) — the source dataset of the T-series / EE-noCoT ablation campaigns.
LeRobot v2.1 video/h264, schema-identical to Numbnut/playground-stage2-v1 and
Numbnut/droid-keeps-v6:
observation.images.ext= bird_eye (the<loc>/@grip grounding view), 320×240observation.images.wrist= right_cameraobservation.state(8,) = joint qpos (7) + gripper open (1=open)action(7,) = EE delta-euler + gripper (compute_ee_delta_actions)- task = the REAL per-episode instruction (goal-directed, e.g. "Relocate red block to the middle and place green block on it.")
Conversion specifics (see droid_provenance.json):
- 30→15fps stride 2 — tempo parity with stage-2. NOTE: the historical T-series/EE repos were native-rate; per-stored-frame deltas here are ~2× those — do not compare models trained here against the historical EE-noCoT/T-series numbers directly.
- Static-prefix trim 0.05 rad (T-series-proven; mean ~14 frames):
trimmaps each episode's source-frame offset. Any future CoT span table must mapkf_lerobot = (kf_source - trim) // stride, dropping kf inside the trimmed prefix. - held_out = []: stage-3 eval is closed-loop sim (
run_benchmark.py --episodes 50 --seed-offset 100 --step-limit 800), all 45 episodes train. Keepcot_exclude_held_out=Falsefor this repo.
No CoT span table yet: the existing annotation_v5.json files in the source tree are
an older API format (per-kf A only); v5-span regeneration (template annotator) is a
pending, separately-reviewed step.
Built by policy/pi05-pure/scripts/convert_franka50_to_lerobot.py in the RoboTwin fork.
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