cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1

Grab-Bottle (right hand) - DP-resampled 3 mm/frame + cycle removal LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Extends the DP-resampled variant by automatically detecting and removing return cycles in wrist-space - segments where the arm travels away from a point and then returns to (approximately) the same position. Such cycles teach the policy to backtrack rather than commit to a goal-directed motion. No fine-tune has been produced from this variant… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1.