---
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
```