| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotwin |
| - sim |
| - franka |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # 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**), 320×240 |
| - `observation.images.wrist` = right_camera |
| - `observation.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): `trim` maps each |
| episode's source-frame offset. Any future CoT span table must map |
| `kf_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. Keep |
| `cot_exclude_held_out=False` for 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. |
| |
