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stack_v4 / README.md

rtbhowmik

provenance: experiment line + what changed vs parent

3a3c4ca verified 6 days ago

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metadata

license: apache-2.0
tags:
  - LeRobot
  - robotics

Experiment provenance

Experiment line: stack line (colour-cube world). Three cubes differing ONLY in hue; day cycles relabel grasp → pick up → stack. Run pages: https://storage.googleapis.com/rbhowmik-dreamer/site/stack/index.html

The day-cycle base: the seed the grasp → pick-up → stack ladder grows from; every stack_v4_day* corpus appends relabelled oracle-gated chains on top of exactly this.

What changed: vs stack_v3: episodes 2100 → 2100, frames 62659 → 63087. Same task vocabulary — the new episodes change coverage, not words.

Collected in simulation (robosuite/MuJoCo, Panda): scene + wrist video, proprio, OSC actions, and a language task string minted by the project's verbalizer (certificate → instruction; the relabeler may not invent words).