knpt/so101_dr500_real_dagger_70

SO-101 vials to rack: 70 real DAgger corrections

Human corrections on a real SO-101 arm for the task "Pick up the vial and place it in the rack", recorded with HG-DAgger. A GR00T N1.7 policy ran on the robot; when it was about to fail, the operator took over with the leader arm and handed back. Only the corrections are recorded, one episode each.

• Episodes 0–39 (round 1): grasp and lift, 4,416 frames, collected while the DR500 simulation policy ran.
• Episodes 40–69 (round 2): placement into the rack, 6,715 frames, collected while the round-1 policy ran.
• 70 episodes, 11,131 frames at 30 fps (about 6.2 minutes). Wrist and external RGB cameras (640×480, AV1), six joint positions and six joint targets (degrees, gripper in percent). LeRobot dataset format v3.0.

Together with every 10th episode of sreetz-nv/so101_newton_dr500_20260923, these episodes trained knpt/round2_fast_30ep_5k, which completed the full task 5/5 on the real robot.

The episodes come from one robot, camera setup and rack position. Two video segments were re-encoded when the episodes were split out of the training dataset; frames differ from the trained ones by about 1/255 on average.