| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - robotics |
| pretty_name: bct533-v21 |
| --- |
| |
| # 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](https://huggingface.co/datasets/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 |
| |
| ```bash |
| hf download CK-Sung/bct533-v21 --repo-type dataset --local-dir <dst> |
| # then point scripts at <dst>/train and <dst>/val |
| ``` |
| |
