MichaelGan0625/g1-inspire-piston-bi-manual-3cam-20260819

G1 Inspire Piston Bi-Manual 3-Camera Replay

LeRobot v2.1 dataset replayed in IsaacLab from the Job A bi-manual CSV collection.

• Episodes: 87 semantic successes
• Frames: 90275
• Rate: 50 Hz
• Cameras: ego 424x240, upright left/right wrist 480x640
• State: 63D actual simulator state
• Action: 30D replay target
• Task: pick up the piston with the right hand, grasp the tube with the left hand, release and regrasp the piston, then bring the piston and tube together.

Only episodes passing reset, first lift, sustained release, regrasp, tube transport, and final piston/tube dock gates are included. Raw wrist videos are retained under videos_raw/ as audit sidecars.

Excluded semantic failures

• episode_trial5_env8
• episode_trial31_env4
• episode_trial40_env11
• episode_trial57_env2
• episode_trial62_env4
• episode_trial81_env5
• episode_trial94_env2
• episode_trial117_env9
• episode_trial123_env4
• episode_trial137_env12
• episode_trial144_env1