bct533-v21

LeRobot v2.1 conversion (10 fps) of the official G1 whole-body teleoperation table-assembly dataset, with a fixed train/val episode split. For internal team workflows (subtask/stage scheduling research and GR00T fine-tuning).

Attribution & license

Derived from BitRobot/G1_WBT_Dex1_Building-Children-Table (533 episodes, LeRobot v3.0, 30 fps), released under CC-BY-4.0 by BitRobot (2026 Humanoid Assembly Challenge organizers). This derivative is likewise distributed under CC-BY-4.0.

Changes from the source

• LeRobot v3.0 → v2.1 layout (per-episode parquet/mp4 files)
• 30 fps → 10 fps downsample
• frame-alignment fix (video frame counts vs parquet lengths)
• episode split: train/ 479 ep / 1,881,809 frames, val/ 54 ep / 210,491 frames
• state/action: 14-d EE space (ee_l/r xyz+rpy + 2 grippers), 3 cameras (cam_0 head, cam_2/3 wrists)

Verification fingerprint

val: 54 ep, 210,491 frames; segments task3=373, task4=216, task0=216. train: 479 ep, 1,881,809 frames. total_tasks=8 (per-frame task_index labels preserved).

Usage

hf download CK-Sung/bct533-v21 --repo-type dataset --local-dir <dst>
# then point scripts at <dst>/train and <dst>/val