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Luckistt
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nero7_block_stack_v1

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Robotics
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Tags:
lerobot
nero7
single-arm
vla
Libraries:
Datasets
LeRobot
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Add block_stack_v1

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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - lerobot
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+ - nero7
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+ - single-arm
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+ - vla
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+ ---
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+
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+ # Nero7 单臂 · 叠放技能数据集（block_stack_v1）
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+
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+ 从原始长 episode 数据集中切分得到的**单技能**数据集：把蓝色方块叠放到已有方块上方。
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+
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+ ## 来源与切分规则
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+
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+ - 原始数据：165 条长 episode（每条含 3–4 次抓放，混合"入筒"和"叠放"两个目标）
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+ - 切分依据：用腕部相机在抓取瞬间识别被夹方块的**颜色**
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+ - 绿 / 橙 → 本数据集（入筒）
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+ - 蓝 → `Luckistt/nero7_block_stack_v1`（叠放）
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+ - 切点：最后一个"非蓝色方块"释放后 1.5 秒（落在两次抓取之间，保留完整动作）
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+ - 每条 episode 最多切一刀
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+
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+ ## 统计
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+
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+ | 项目 | 值 |
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+ |---|---|
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+ | 段数 | 138 |
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+ | 帧数 | 158,086 |
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+ | 总时长 | 约 88 分钟 |
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+ | 段长 | 9.3s – 73.1s（中位 39.5s） |
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+ | fps | 30 |
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+ | 编码 | AV1（CRF 30） |
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+
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+ ## 特征
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+
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+ | 键 | 形状 | 说明 |
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+ |---|---|---|
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+ | `observation.images.external` | 360×640×3 | 外部固定相机（1280×720 下采样） |
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+ | `observation.images.wrist` | 300×480×3 | 腕部相机 |
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+ | `observation.state` | 8 | 七轴关节角（弧度）+ 夹爪开口（米） |
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+ | `action` | 8 | 同上，示教动作 |
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+ | `task` | — | `put the block into the cup` |
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+
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+ ## 用途
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+
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+ 用于微调 VLA 模型（SmolVLA / π0.5）完成单一技能。配套数据集：`Luckistt/nero7_block_stack_v1`。
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