Stack the blocks — 512 synthetic demonstrations
Task: Stack the green cube on the blue cube, then stack the red cube on the green cube. Final order from bottom to top: blue, green, red.
512 synchronized front (wrist) + side (fixed external) episodes, 640×480, 30 FPS, 11.2 seconds each. Native LeRobot v3.0, written and read with SDK 0.4.3. Blender 5.2.2 LTS, Cycles 32 samples, H264. Camera streams are separate training features.
Coverage and splits
64 independently simulated layout/motion seeds × 8 appearance variants. 128 ordinary, 256 strong and 128 extreme episodes. The extreme group combines extreme lighting and non-task material conditions: low key, hard backlight, hot spot, split color; polished metal, black lacquer, coarse matte, checker coating. The strong group uses intermediate severity ranges. All three blocks retain their intrinsic blue, green and red material colors. Illumination can change their apparent pixel colors. Other object groups vary in material/tint while retaining geometry and source texture structure.
Side-camera position, height, viewing direction and roll vary between episodes over recorded deployment ranges. Each camera remains fixed within its episode. All-frame block-corner framing and actual static-scene ray visibility are checked; representative rendered placements are reviewed; this is not a guarantee for arbitrary real camera mounting.
448 train / 64 validation episodes. All eight appearances of a motion seed stay together; apply splits.json explicitly. There are 64 independent dynamics trials, not 512. Source appearance fitting is not an independent generalization evaluation.
State, action and annotations
SO101 order: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper. First five coordinates are degrees; gripper is percent. action[t] = observation.state[t+1]. The final repeated action has action_valid=0; mask it in training. Native action-window padding is verified at episode boundaries.
Joint trajectories use a measured target-independent home/acquisition prior followed by a privileged synthetic expert with Cartesian contact approach. They are not RGB-only planning results. Fitted visual offsets are not hardware calibration. Intended policy inputs are camera images and observation.state. annotation.* fields are simulation-only labels and must not become deployment observations.
annotation.blocks_world_pose contains 48 row-major values: blue 4×4, green 4×4, red 4×4. Camera transforms are OpenCV world_from_camera; intrinsics are row-major 3×3. Phase codes, seed groups, recipes, units and hashes accompany the native data.
Validation scope
All three blocks are free dynamic rigid bodies under gravity/contact. No block is welded, parented or teleported during seed simulation. Dynamic CAD jaw proxies track prescribed guides; actuator dynamics are outside this model. Every accepted seed requires preclosure stationarity, bounded initial contact velocity/force and frame displacement/rotation, bilateral grasp contact, two lifts, release, both stack support contacts and stable ordered rest. Full robot CAD is checked against the table; non-jaw CAD is checked against the blocks at 60 Hz. Joint limits and acquisition visibility are checked.
Appearance derivatives inherit their seed's physics result. Friction, mass and hidden camera/cable geometry are inferred. Self-collision, cable collision, continuous between-sample sweeps and hardware validation are not claimed. Motion is approximately 11 seconds to preserve controlled approach and settling.
The scene was fitted from user-provided multiview photographs and measured stacking episode 0, reusing room and SO101 CAD assets from pick-the-block / pick-black-cat. Original photographs, demonstration videos and CAD source files are excluded from this release; their original rights remain unchanged. Distant furniture is approximate and residual shadows/blur/side projection differences remain. No trained-policy or real-hardware success is claimed.
generation_manifest.json, motion_validation.json, validation.json and release_manifest.json record recipes, physical checks, official-reader checks and file hashes. Plan SHA256: 9b640260b18dd1e68fdd72e42437cfc3d79ca0302b6bcf25a61845e04b5b76c7.
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