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Add first 50 episodes (GR00T N1.5 training data)

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  1. README.md +81 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. data/chunk-000/episode_000001.parquet +3 -0
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README.md ADDED
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+ # Paper Return - First 50 Episodes (GR00T N1.5 Training Data)
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+
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+ ## Overview
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+
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+ This dataset contains the **first 50 episodes** (episodes 0-49) from the [paper_return dataset](https://huggingface.co/datasets/Hafnium49/paper_return).
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+
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+ 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.
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+
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+ ## Dataset Contents
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+
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+ - **Episodes:** 50 (episodes 000000-000049)
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+ - **Task:** Paper-in-square manipulation task using SO-101 robot
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+ - **Data format:** LeRobot v2.1 dataset format
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+ - **Total frames:** ~69,051 frames across 50 episodes
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+
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+ ## Files Structure
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+
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+ ```
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+ paper_return_first50/
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+ ├── data/
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+ │ └── chunk-000/
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+ │ ├── episode_000000.parquet # Action and state data
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+ │ ├── ...
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+ │ └── episode_000049.parquet
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+ ├── videos/
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+ │ └── chunk-000/
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+ │ └── observation.images.main/
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+ │ ├── episode_000000.mp4 # Camera observations
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+ │ ├── ...
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+ │ └── episode_000049.mp4
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+ └── meta/
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+ ├── info.json # Dataset metadata
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+ ├── stats.json # Statistics for normalization
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+ ├── episodes.jsonl # Episode information
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+ └── tasks.jsonl # Task definitions
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+ ```
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+
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+ ## Training Details
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+
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+ This dataset was used to train the GR00T N1.5 model with the following configuration:
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+
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+ - **Model:** GR00T N1.5 (3B parameters)
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+ - **Training time:** ~3 hours on A100/H100 GPUs
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+ - **Epochs:** 10
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+ - **Batch size:** 49
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+ - **Learning rate:** 0.0001
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+ - **Platform:** phosphobot
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+
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+ ## Related Resources
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+
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+ - **Full Dataset:** [Hafnium49/paper_return](https://huggingface.co/datasets/Hafnium49/paper_return) (206 episodes)
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+ - **Trained Model:** [phospho-app/gr00t-paper_return-7w9itxzsox](https://huggingface.co/phospho-app/gr00t-paper_return-7w9itxzsox)
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+ - **Model Documentation:** Training details and usage examples
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+
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+ ## Usage
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+
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+ Load with LeRobot:
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+
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+ ```python
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+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
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+
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+ dataset = LeRobotDataset("Hafnium49/paper_return_first50")
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+ print(f"Episodes: {dataset.num_episodes}")
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+ print(f"Frames: {len(dataset)}")
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+ ```
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+
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+ ## Citation
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+
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+ If you use this dataset, please cite:
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+
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+ - Original dataset: Hafnium49/paper_return
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+ - GR00T model: phospho-app/gr00t-paper_return-7w9itxzsox
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+ - GR00T foundation model: NVIDIA GR00T N1.5
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+
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+ ## License
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+
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+ Same license as the original paper_return dataset.
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+
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+ ## Dataset Creation
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+
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+ 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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