---
license: apache-2.0
tags:
- LeRobot
- robotics
---

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## 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).
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