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# Paper Return - First 50 Episodes (GR00T N1.5 Training Data)
## Overview
This dataset contains the **first 50 episodes** (episodes 0-49) from the [paper_return dataset](https://huggingface.co/datasets/Hafnium49/paper_return).
This subset represents the **exact training data** used to fine-tune the [phospho-app/gr00t-paper_return-7w9itxzsox](https://huggingface.co/phospho-app/gr00t-paper_return-7w9itxzsox) GR00T N1.5 model.
## Dataset Contents
- **Episodes:** 50 (episodes 000000-000049)
- **Task:** Paper-in-square manipulation task using SO-101 robot
- **Data format:** LeRobot v2.1 dataset format
- **Total frames:** ~69,051 frames across 50 episodes
## Files Structure
```
paper_return_first50/
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet # Action and state data
│ ├── ...
│ └── episode_000049.parquet
├── videos/
│ └── chunk-000/
│ ├── observation.images.main/
│ │ ├── episode_000000.mp4 # Top-view camera
│ │ ├── ...
│ │ └── episode_000049.mp4
│ └── observation.images.secondary_0/
│ ├── episode_000000.mp4 # Wrist camera
│ ├── ...
│ └── episode_000049.mp4
└── meta/
├── info.json # Dataset metadata
├── stats.json # Statistics for normalization
├── episodes.jsonl # Episode information
└── tasks.jsonl # Task definitions
```
## Training Details
This dataset was used to train the GR00T N1.5 model with the following configuration:
- **Model:** GR00T N1.5 (3B parameters)
- **Training time:** ~3 hours on A100/H100 GPUs
- **Epochs:** 10
- **Batch size:** 49
- **Learning rate:** 0.0001
- **Platform:** phosphobot
## Related Resources
- **Full Dataset:** [Hafnium49/paper_return](https://huggingface.co/datasets/Hafnium49/paper_return) (206 episodes)
- **Trained Model:** [phospho-app/gr00t-paper_return-7w9itxzsox](https://huggingface.co/phospho-app/gr00t-paper_return-7w9itxzsox)
- **Model Documentation:** Training details and usage examples
## Usage
Load with LeRobot:
```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Hafnium49/paper_return_first50")
print(f"Episodes: {dataset.num_episodes}")
print(f"Frames: {len(dataset)}")
```
## Citation
If you use this dataset, please cite:
- Original dataset: Hafnium49/paper_return
- GR00T model: phospho-app/gr00t-paper_return-7w9itxzsox
- GR00T foundation model: NVIDIA GR00T N1.5
## License
Same license as the original paper_return dataset.
## Dataset Creation
Created from episodes 0-49 of the paper_return dataset to represent the exact training data used for the GR00T N1.5 fine-tuning conducted on the phospho platform.
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