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.
This subset represents the exact training data used to fine-tune the 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 (206 episodes)
- Trained Model: phospho-app/gr00t-paper_return-7w9itxzsox
- Model Documentation: Training details and usage examples
Usage
Load with LeRobot:
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.