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-python> | <raw> | <lerobot> | Bigenlight/bowl_stack_triple_lerobot_v3 | stack the orange bowls and place them into the purple bowl | {
"limit": 0
} | 60 | 60 | [
"take_01_20260919_185842",
"take_01_20260919_190643_recover",
"take_01_20260919_193517",
"take_02_20260919_190127_recover_many",
"take_02_20260919_190743",
"take_02_20260919_193555",
"take_03_20260919_190240_recover_many",
"take_03_20260919_190824_recover",
"take_03_20260919_193631_recover",
"take... | [
415,
1040,
474,
1364,
505,
685,
905,
860,
744,
475,
618,
467,
550,
467,
1261,
551,
639,
519,
517,
472,
482,
481,
550,
758,
476,
633,
733,
453,
500,
453,
460,
502,
654,
480,
603,
545,
463,
777,
557,
659,
456,
561,
569,
927,
552,
... | 36,030 | {
"codebase_version": "v3.0",
"fps": 30,
"total_episodes": 60,
"total_frames": 36030,
"total_tasks": 1,
"robot_type": "ur7e_gello",
"splits": {
"train": "0:60"
}
} | 0 | 0 | {
"schema": "gello_recorder/lerobot_source_takes/2",
"n_episodes": 60,
"rows": [
{
"episode_index": 0,
"take": "take_01_20260919_185842",
"n_frames_declared": 415,
"n_frames_raw": 415,
"n_frames_parquet": 415,
"t0_off_s": 1789811922.340718,
"cam1_stamp_minus_ur_stamp_... | {
"observation.images.cam1": {
"n": 360,
"corr_min": 0.9988086306138505,
"corr_mean": 0.9995242308841551,
"mad_max": 1.638445457175926,
"mad_mean": 1.3513994291329088,
"n_bad": 0
},
"observation.images.cam2": {
"n": 360,
"corr_min": 0.9996442818995445,
"corr_mean": 0.9998423943... | {
"n_files_scanned": 3,
"offenders": []
} | {
"median_abs_state_action_rad": 0.003500044345855713,
"mean_abs_state_action_rad": 0.007225207681020189,
"cam2_reuse_count_median_rederived": 0,
"cam2_reuse_count_median_declared": 0,
"per_episode_reuse_count_rederived": [
0,
1,
0,
1,
0,
0,
1,
0,
0,
0,
0,
1,
... | {
"per_episode": [
{
"episode_index": 0,
"take": "take_01_20260919_185842",
"median_offset_ms": -0.00476837158203125,
"far_frac_gt_15ms": 0.0024096385542168677
},
{
"episode_index": 1,
"take": "take_01_20260919_190643_recover",
"median_offset_ms": 0.00095367431640... | {
"tol": 0,
"video_min_corr": 0.97,
"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,
"align_far_frac_absurd": 0.1
} | {
"pass": 43,
"fail": 0,
"warn": 0,
"skip": 0,
"total": 43
} | [
{
"status": "PASS",
"check": "vectorised nearest_idx == brute-force argmin reference",
"detail": "70 queries against ur/cam2 timelines of take_01_20260919_185842"
},
{
"status": "PASS",
"check": "ffill_bfill reference case",
"detail": "[1.0, 1.0, 1.0, 1.0, 1.0, 2.0, 2.0]"
},
{
"s... |
Triple bowl stacking — LeRobot v3.0
Task: stack the orange bowls and place them into the purple bowl
Stack the two orange bowls together, then place them into the purple bowl. Collected on 2026-09-19 using UR7e, GELLO and a Robotiq gripper with two RGB cameras.
The collector supplied this photograph as the task overview. Original filename: 20260919_200321(1).jpg.
Contents
60 episodes; 36,030 cam1 master frames at 30 FPS; approximately 20 minutes. Raw cam2 has 36,027 frames and is aligned by timestamp in LeRobot. RGB: 1280×720; no depth. State/action: six UR joints plus gripper (7-D). Original recordings are retained without editing.
Collection tags
Folder suffixes are preserved verbatim in meta/source_takes.json as folder_tag and folder_labels. recovery_label="recover" groups all recovery variants for compatibility with previous lighting releases. Counts: {"untagged": 46, "recover": 10, "recover_many": 3, "recover_twice": 1}.
These are collection annotations, not verified outcome labels. Normal completion requires multiple grasps, so multiple gripper closures alone do not imply recovery. No take is excluded because of its tag. No paper train/validation/test partition is assigned; LeRobot's default train range merely exposes the entire corpus.
Alignment and provenance
Uses the existing fixed-recorder convert_takes_to_lerobot.py recipe: cam1 capture stamps are the master clock; camera and joint streams use ROS stamp_s; command and gripper use callback t_rel_s. No timestamp-lag correction or frame dropping is applied. The older two-bowl lighting corpus is a distinct task and is not merged here.
Companion dataset: Bigenlight/bowl_stack_triple_raw.
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