diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7680d6569f21843ed2bf9021c5ffad87ab76bc83 --- /dev/null +++ b/README.md @@ -0,0 +1,81 @@ +# 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 # Camera observations +│ ├── ... +│ └── 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. diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1f54d32ac865e5bff366cfc4a101eb6b27391dd6 --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 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