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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-3 corpus: scaffolded stack chains (learned pick-up, scripted carry/lower/open) plus the held-context demos; the base both grounding nights fork from.
**What changed:** vs `stack_v4_day3prep2`: episodes 3150 → 3450, frames 149569 → 198246. New task strings: “stack the red cube on the blue 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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