cloudwalk-research/psi0-g1-sneaker-199ep-v2

Psi0 G1 Sneaker-in-Box — 199 episodes (v2 training) Training subset of the 205-episode v2 canonical source, with 6 episodes held out for open-loop evaluation. Used as the input for the v2 Psi0 fine-tune (CloudWalk Research). Bimanual: roughly half LEFT-hand demos, half RIGHT-hand. Same task as v1 — "Pick up the sneaker and place it inside the box." — same Unitree G1 + Inspire RH56DFTP hardware. The held-out 6 episodes live in psi0-g1-sneaker-6ep-v2-eval. 199 + 6 = 205… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-199ep-v2.