Datasets:

120ft
/

first-thread-gr00t

task_categories:
  - robotics
tags:
  - LeRobot
  - gr00t
  - unitree-g1
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/*/*.parquet

first-thread-gr00t

Unitree G1-D teleop episodes for the task "thread lamp part", recorded by the 120ft episode recorder and converted for GR00T N1.7 fine-tuning.

Format: LeRobot v2.1 + meta/modality.json (GR00T flavor). Converted from the v3.0 source dataset with Isaac-GR00T's convert_v3_to_v2.py; the v3.0 original lives in the data-collection repo (data/120ft/first-thread).
Episodes: 72 (growing — reconverted/re-uploaded via data-collection scripts/convert_gr00t.sh first-thread 120ft/first-thread-gr00t).
Observations/actions: observation.state and action, both float32[16] — indices 0–6 left arm (shoulder p/r/y, elbow, wrist r/p/y), 7–13 right arm, 14/15 left/right Dex1 gripper. 30 fps.
Cameras (h264, 480×640): observation.images.head, observation.images.left_wrist, observation.images.right_wrist under videos/ (not shown in the viewer).
Modality split (meta/modality.json): left_arm / right_arm / left_hand / right_hand; language from the task description; matches g1-d-train/configs/train/g1d_modality_config.py (embodiment tag NEW_EMBODIMENT).