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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
Day-cycle corpus: the parent plus that night's appended episodes (relabelled oracle-gated chains and/or held-context prep demos). The corpus is the memory; weights retrain from scratch each night.
**What changed:** vs `stack_v4_day2prep`: episodes 2550 → 2850, frames 88182 → 122404. New task strings: “pick up the red cube”.
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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