Datasetpublic

PID0930/metal_part_sort_v6

metal_part_sort_v6 LeRobot v2.1 dataset for the Unitree G1 + Inspire DFX metal part sorting task. Episodes: 39 Frames: 32,049 FPS: 30 Raw snapshot: /home/y-kosugi/datasets/metal_part_sort_v6_all_raw_20260624/metal_part_sort_v6 Camera streams are stored as: observation.images.cam_left_high: robot head camera, recorded for audit only observation.images.cam_external: external camera observation.images.cam_left_wrist: left wrist camera observation.images.cam_right_wrist: right… See the full description on the dataset page: https://huggingface.co/datasets/PID0930/metal_part_sort_v6.

sourceHugging Faceotherupdated 3mo agoView on Hugging Face

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Dataset Card

metalpartsort_v6

LeRobot v2.1 dataset for the Unitree G1 + Inspire DFX metal part sorting task.

—Episodes: 39
—Frames: 32,049
—FPS: 30
—Raw snapshot: /home/y-kosugi/datasets/metal_part_sort_v6_all_raw_20260624/metal_part_sort_v6

Camera streams are stored as:

—observation.images.cam_left_high: robot head camera, recorded for audit only
—observation.images.cam_external: external camera
—observation.images.cam_left_wrist: left wrist camera
—observation.images.cam_right_wrist: right wrist camera

For GR00T training, meta/modality.json maps the logical head video input to observation.images.cam_external. The robot head camera is not fed to the model.

State/action layout:

—left arm: 0:7
—right arm: 7:14
—left hand: 14:20
—right hand: 20:26