cloudwalk-research/gr00t-g1-grab-bottle-right-hand-worst-positions-empty-115ep-v3
GR00T G1 Grab-Bottle — right hand, worst-positions, 115 episodes LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is a hard-pose teleoperation set — 115 episodes collected deliberately at the bottle positions where prior fine-tuned policies performed worst (the model would approach the bottle but stop ~10 cm short of contact and fail to grasp). It was recorded to fill the policy's reach-distance distribution gap. Manually cleaned at the episode level; no… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-worst-positions-empty-115ep-v3.
docs: add 'Task prompt: grab the bottle' note to collection setup
docs: add 12-position collection setup photo + eval-grid cross-reference
Align hand description with model cards: Inspire FTP hands (7-DoF/hand) -> (7-DoF/hand: 6 finger joints + 1 grip pad, via InspireFTPGripMapper)
Family alignment: 10-row lineage (add v2 + cycle-removed), v7 trained 2026-06-25, Public visibility, direct-siblings prose; enrich v2/speedup/cycle-removed; document 'empty' token
Lineage: add speedup-3mm-v1 (DP wrist-Cartesian resample, no removal -> v7 training pending) + model annotations
Lineage: clarify radius-20-merged curates BOTH sources (115ep eps 0-94 curated, 95-114 as-is); drop shared-cluster note
Enrich card: pretty_name, size_categories, action/state layout, download+inference snippets, multi-bibtex
Simplify: drop confusing discarded_episode_indices parenthetical
Teleop: note ankle trackers in PICO setup
Add dataset card
Upload curated 115-episode dataset (worst-positions-empty v3)
initial commit