kt_pick_spam_merge

Merge of learner1119/kt_pick_spam (merged index 0–49) and learner1119/kt_pick_spam2 (merged index 50–99). FFW-SH5 rev1, 10 fps, LeRobot v2.1. Language instruction: pick up the spam.

	episodes	frames
kt_pick_spam (0–49)	50	5,047
kt_pick_spam2 (50–99)	50	3,974
total	100	9,021

Episodes were re-indexed end to end (episode_index, index, task_index); videos are copied byte-for-byte. meta/source_episodes.jsonl maps each merged episode back to its source.

Features

• observation.state, action: 57-dof (arm_l 0:7, arm_r 7:14, finger_l 14:34, finger_r 34:54, head 54:56, lift 56)
• observation.tactile: 90
• observation.images.cam_head (672×376), observation.images.cam_head_realsense (640×480)

meta/modality.json (GR00T)

Exposes only the right arm (7) + right hand (20) as right_arm / right_hand and only cam_head as video. The other joints and the realsense camera stay in the data but are not used for training.

Hold-out

2 episodes per source are held out (4 episodes, 328 frames): merged indices 19, 39 (from kt_pick_spam) and 69, 89 (from kt_pick_spam2), published as learner1119/kt_pick_spam_merge_holdout. The remaining 96 episodes (8,693 frames) are the training split. (Changed on 2026-10-20 from 5 per source.)