verdict string | interpreter string | raw_root string | lerobot_root string | repo_id string | task string | test_mode dict | n_takes_found int64 | n_takes_included int64 | takes list | take_frame_counts list | expected_total_frames int64 | info dict | max_abs_dev_state float64 | max_abs_dev_action float64 | source_takes_json dict | video dict | no_abs_paths dict | physics_sanity dict | alignment_evidence dict | thresholds dict | counts dict | rows list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
PASS | <conversion environment python> | <local path omitted from published artifact> | <local path omitted from published artifact> | Bigenlight/bowl_stack_lighting_lerobot_v3 | Stack the orange bowl on the purple bowl. | {
"limit": 0
} | 71 | 71 | [
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"take_02_20260918_211834",
"take_03_20260918_211859_other_side",
"take_04_20260918_211920",
"take_05_20260918_212028_recover",
"take_06_20260918_212121",
"take_07_20260918_212143",
"take_08_20260918_212210_other_side",
"take_09_20260918_212240",
"take_10_20260918_212304"... | [
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2... | 17,945 | {
"codebase_version": "v3.0",
"fps": 30,
"total_episodes": 71,
"total_frames": 17945,
"total_tasks": 1,
"robot_type": "ur7e_gello",
"splits": {
"train": "0:71"
}
} | 0 | 0 | {
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"rows": [
{
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"take": "take_01_20260918_211811",
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"n_frames_raw": 287,
"n_frames_parquet": 287,
"t0_off_s": 1789733891.7594113,
"cam1_stamp_minus_ur_stamp... | {
"observation.images.cam1": {
"n": 426,
"corr_min": 0.9987471054795414,
"corr_mean": 0.9994289882800809,
"mad_max": 1.4954401765046297,
"mad_mean": 1.3500250873489394,
"n_bad": 0
},
"observation.images.cam2": {
"n": 426,
"corr_min": 0.9996586171645377,
"corr_mean": 0.999839817... | {
"n_files_scanned": 3,
"offenders": []
} | {
"median_abs_state_action_rad": 0.003669261932373047,
"mean_abs_state_action_rad": 0.0070186716562262086,
"cam2_reuse_count_median_rederived": 0,
"cam2_reuse_count_median_declared": 0,
"per_episode_reuse_count_rederived": [
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... | {
"per_episode": [
{
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"take": "take_01_20260918_211811",
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"far_frac_gt_15ms": 0.003484320557491289
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{
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"take": "take_02_20260918_211834",
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... | {
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"video_max_mad": 12,
"state_action_absurd_low": 0.0001,
"state_action_absurd_high": 0.3,
"align_far_tol_s": 0.015,
"align_median_absurd_ms": 20,
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} | {
"pass": 43,
"fail": 0,
"warn": 0,
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"total": 43
} | [
{
"status": "PASS",
"check": "vectorised nearest_idx == brute-force argmin reference",
"detail": "72 queries against ur/cam2 timelines of take_01_20260918_211811"
},
{
"status": "PASS",
"check": "ffill_bfill reference case",
"detail": "[1.0, 1.0, 1.0, 1.0, 1.0, 2.0, 2.0]"
},
{
"s... |
Bowl stack with additional lighting — LeRobot v3.0
Task: Stack the orange bowl on the purple bowl.
UR7e + GELLO teleoperation demonstrations: grasp the orange bowl with the gripper and place it on top of the purple bowl.
Task scene captured on 2026-09-18. The two visible softbox lights are the additional-lighting setup used during collection.
Collection condition
Additional task lighting was installed and used throughout this 2026-09-18 collection. This is a lighting-conditioned collection and is distinct from earlier bowl_stack data collected without this added setup.
Contents
- 71 episodes / 17,945 frames at 30 FPS
- Two RGB camera streams:
observation.images.cam1,observation.images.cam2(1280×720) - Robot state and action: 6 UR7e joints + gripper position/command
- No depth stream; no frames were dropped and no timestamp lag correction was applied.
Folder-label tags
Original take directory names are retained in meta/source_takes.json, alongside per-episode folder_labels and recovery_label fields.
other_side: object arrangement/starting-side variation, exactly as labeled during collection.recover: a retry collected after a failed task attempt. Keep these cases separate for recovery-case evaluation.recover_other_side: both labels apply; the original folder name is kept verbatim.
The exact lists are in folder_label_summary in meta/source_takes.json; select recovery data using recovery_label == "recover" or the preserved take name.
Raw source
The unmodified recorder files are in Bigenlight/bowl_stack_lighting_raw: raw/<original-take-name>/{vectors.h5,cam1.mp4,cam2.mp4}.
Conversion provenance
Converted with the fixed gello_recorder recipe: camera and joint ROS header timestamps (stamp_s) are aligned directly; command and gripper callback timestamps are used as recorded. The residual robot state vs. command lag is real servo tracking and intentionally remains in the data.
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