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/cube_stack_lerobot_v3 | stack the red cube on the blue cube | {
"limit": 0
} | 60 | 60 | [
"take_01_20260919_212809",
"take_01_20260919_213136",
"take_02_20260919_213158",
"take_03_20260919_213223",
"take_04_20260919_213244",
"take_05_20260919_213309",
"take_06_20260919_213329_recover",
"take_07_20260919_213354",
"take_08_20260919_213417_recover_many",
"take_09_20260919_213502_recover",... | [
260,
278,
295,
319,
295,
276,
435,
410,
640,
550,
331,
262,
292,
365,
324,
345,
337,
438,
428,
283,
243,
243,
289,
341,
269,
256,
262,
267,
544,
471,
281,
276,
300,
314,
304,
316,
260,
255,
275,
333,
328,
224,
500,
576,
270,
5... | 20,177 | {
"codebase_version": "v3.0",
"fps": 30,
"total_episodes": 60,
"total_frames": 20177,
"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_212809",
"n_frames_declared": 260,
"n_frames_raw": 260,
"n_frames_parquet": 260,
"t0_off_s": 1789820889.4744697,
"cam1_stamp_minus_ur_stamp... | {
"observation.images.cam1": {
"n": 360,
"corr_min": 0.9975612583189848,
"corr_mean": 0.9990367578216374,
"mad_max": 1.4445446325231481,
"mad_mean": 1.3415429165059156,
"n_bad": 0
},
"observation.images.cam2": {
"n": 360,
"corr_min": 0.9995478619408191,
"corr_mean": 0.999763645... | {
"n_files_scanned": 3,
"offenders": []
} | {
"median_abs_state_action_rad": 0.003331422805786133,
"mean_abs_state_action_rad": 0.007062840527902541,
"cam2_reuse_count_median_rederived": 0,
"cam2_reuse_count_median_declared": 0,
"per_episode_reuse_count_rederived": [
0,
1,
0,
0,
0,
0,
0,
0,
1,
0,
0,
0,
... | {
"per_episode": [
{
"episode_index": 0,
"take": "take_01_20260919_212809",
"median_offset_ms": -0.02288818359375,
"far_frac_gt_15ms": 0
},
{
"episode_index": 1,
"take": "take_01_20260919_213136",
"median_offset_ms": -0.016570091247558594,
"far_frac_gt_15ms"... | {
"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": "65 queries against ur/cam2 timelines of take_01_20260919_212809"
},
{
"status": "PASS",
"check": "ffill_bfill reference case",
"detail": "[1.0, 1.0, 1.0, 1.0, 1.0, 2.0, 2.0]"
},
{
"s... |
Cube stack — lerobot_v3
Task: stack the red cube on the blue cube
UR7e/GELLO cube-stacking recordings collected on 2026-09-19. Place the red cube on top of the blue cube.
This preview is extracted from take_01_20260919_212809/cam1.mp4; it is not a separate setup photograph or an outcome label.
Contents
60 episodes / 20,177 cam1 master frames at 30 FPS (about 11.2 minutes). Two 1280×720 RGB cameras (cam1 scene, cam2 wrist); no depth. State/action each contain six joints plus gripper. Raw files remain unchanged under raw/<original-take-name>/ in the raw repository.
Collection tags
Exact suffixes are preserved in folder_tag and folder_labels in meta/source_takes.json. recovery_label="recover" selects all recovery variants, consistent with previous lighting releases. Counts: {"untagged": 48, "recover": 9, "recover_many": 3}. Original full take names are retained, including two different takes numbered 01. No take was excluded.
Tags are collection annotations, not verified success/failure labels. No paper train/validation/test partition is assigned; the default LeRobot train range exposes the full corpus.
Conversion
Existing fixed-recorder recipe (convert_takes_to_lerobot.py, LeRobot 0.6.1/v3.0): camera/joint header stamp_s alignment, command/gripper callback t_rel_s, nearest timestamps, cam1 master grid. No servo-lag subtraction or frame dropping. State: ur_q1..6 + grip_pos; action: cmd1..6 + grip_cmd. GELLO leader coordinates are excluded from policy observations.
Companion: Bigenlight/cube_stack_raw.
Independent conversion validation: {'pass': 43, 'fail': 0, 'warn': 0, 'skip': 0, 'total': 43}. This validates conversion fidelity, not robot policy success.
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