rubatotree/classify-blocks-2-1-102

classify-blocks-2-1 partial 102

This is an explicitly partial LeRobot dataset containing the first 102 published episodes of the classify-blocks-2-1 build. The full version is planned for 512 episodes; this repository exists so the completed subset can be inspected and used before rendering finishes.

The included episodes use the revised hardware-facing motion contract:

• approach_source holds at an 85 mm source hover with bounded lateral and height error;
• align_and_grasp descends through a 25 mm intermediate pose before table contact;
• align_target_slot stops 50 mm above the destination and lower_and_release does not descend further;
• retract and return_to_workspace close the gripper and return the arm to the episode's initial TCP and full six-joint state within the recorded tolerance.

This repository is not the complete 512-episode release and should not be cited as such. The original classify-blocks-2-512 dataset remains unchanged.

Layout

The root follows the LeRobot dataset layout. Additional structured sidecars and provenance are under sidecars/ and provenance/; no HUD preview videos are included. The policy-facing observation is one 640x480 front image plus six joint state values; actions are absolute six-joint commands at 15 Hz. The data remains simulation-only and does not establish hardware success.