---
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 shape-inheritance dose: 600 approach-only 'go over the red cylinder' demos (EXACTLY red_cube's colour, so only shape can bind). Result: weaker transfer than colour (pick up 0/10 → 3/10).

**What changed:** vs `stack_v4_day3`: episodes 3450 → 5250, frames 198246 → 250708. New task strings: “go over the red cylinder”.

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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